CN103282781B - Apparatus and method for programmable manipulation pipette - Google Patents

Apparatus and method for programmable manipulation pipette Download PDF


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CN103282781B CN201180063172.8A CN201180063172A CN103282781B CN 103282781 B CN103282781 B CN 103282781B CN 201180063172 A CN201180063172 A CN 201180063172A CN 103282781 B CN103282781 B CN 103282781B
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    • B01L3/00Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B01L3/02Burettes; Pipettes
    • B01L3/021Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
    • B01L3/00Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B01L3/02Burettes; Pipettes
    • B01L3/021Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
    • B01L3/0217Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids of the plunger pump type
    • B01L3/0237Details of electronic control, e.g. relating to user interface
    • B01L9/00Supporting devices; Holding devices
    • B01L9/54Supports specially adapted for pipettes and burettes
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584Control arrangements for automatic analysers
    • G01N35/00722Communications; Identification
    • G01N35/00732Identification of carriers, materials or components in automatic analysers
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/026Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having blocks or racks of reaction cells or cuvettes
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/028Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having reaction cells in the form of microtitration plates
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N35/1011Control of the position or alignment of the transfer device
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N35/1016Control of the volume dispensed or introduced
    • B01J2219/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • B01J2219/00274Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
    • B01J2219/00277Apparatus
    • B01J2219/00351Means for dispensing and evacuation of reagents
    • B01J2219/00364Pipettes
    • B01J2219/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • B01J2219/00274Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
    • B01J2219/0068Means for controlling the apparatus of the process
    • B01J2219/00693Means for quality control
    • B01J2219/00Chemical, physical or physico-chemical processes in general; Their relevant apparatus
    • B01J2219/00274Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
    • B01J2219/0068Means for controlling the apparatus of the process
    • B01J2219/00698Measurement and control of process parameters
    • B01L2200/00Solutions for specific problems relating to chemical or physical laboratory apparatus
    • B01L2200/06Fluid handling related problems
    • B01L2200/0621Control of the sequence of chambers filled or emptied
    • B01L2200/00Solutions for specific problems relating to chemical or physical laboratory apparatus
    • B01L2200/08Ergonomic or safety aspects of handling devices
    • B01L2200/087Ergonomic aspects
    • B01L2200/00Solutions for specific problems relating to chemical or physical laboratory apparatus
    • B01L2200/14Process control and prevention of errors
    • B01L2200/00Solutions for specific problems relating to chemical or physical laboratory apparatus
    • B01L2200/14Process control and prevention of errors
    • B01L2200/143Quality control, feedback systems
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584Control arrangements for automatic analysers
    • G01N35/00722Communications; Identification
    • G01N35/00732Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742Type of codes
    • G01N2035/00752Type of codes bar codes
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584Control arrangements for automatic analysers
    • G01N35/00722Communications; Identification
    • G01N35/00732Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742Type of codes
    • G01N2035/00782Type of codes reprogrammmable code
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584Control arrangements for automatic analysers
    • G01N35/00722Communications; Identification
    • G01N35/00732Identification of carriers, materials or components in automatic analysers
    • G01N2035/00792Type of components bearing the codes, other than sample carriers
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N2035/1027General features of the devices
    • G01N2035/103General features of the devices using disposable tips
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N2035/1027General features of the devices
    • G01N2035/1048General features of the devices using the transfer device for another function


本发明一般涉及用于以可编程的方式操纵实验室移液管的设备和方法。 The present invention relates generally to a programmable shift manipulated laboratory apparatus and method of the liquid pipe. 本发明涉及一种这样的装置和方法:允许用户指示设备执行特定的过程;识别将使用的耗材的类型、位置和身份;操纵用于执行液体处理的多个移液管;在其实行期间和在其实行之后监控该过程;生成多个动作的详细报告。 The present invention relates to an apparatus and such a method: the pointing device allows the user to perform a particular process; consumable to be used to identify the type, location and identity; manipulation for executing a plurality of liquid handling pipette; during its implementation and the monitoring process after the implementation thereof; generate a detailed report of the plurality of operation. 本发明的其他方面包括:优化移液管的液体分配性能;利用视觉来监控和控制单独的动作;利用现实增强软件界面虚拟化方案定义;将系统集成在常规实验室环境工作流中。 Other aspects of the present invention comprises: a liquid optimize shifting performance liquid dispensing tube; with a visual monitoring and controlling individual operation; Augmented Reality using virtualization software interface programs defined above; integration of the system in a conventional laboratory workflow environment.


用于移液管的可编程操纵的设备和方法 Apparatus and method for programmable manipulation pipette


[0002] 本申请要求2010年11月23日提交的美国临时专利申请序列号为61/416,546的权益,该申请的全部内容通过引用的方式并入本文。 [0002] This application claims the benefit of US Provisional Patent November 23, 2010 filed Application Serial No. 61 / 416,546, the entire contents of which are incorporated herein by reference.

技术领域 FIELD

[0003] 本发明涉及化学、生物以及生化过程或生化反应的自动化领域。 [0003] The present invention relates to chemical, biological or biochemical processes and automation of biochemical reactions. 更具体地,本发明公开了用于以可编程方式操纵移液管的设备和方法。 More particularly, the present invention discloses a method and apparatus for programmably manipulating the pipette.

背景技术 Background technique

[0004] 传统上和历史上,液体处理构成了跨多个产业所进行的大部分生化、化学以及生物测试的基本构建块。 [0004] Conventionally and historically, the liquid treatment constitutes the basic building block of most biochemical, chemical and biological tests performed across multiple industries.

[0005] 实质上,液体处理定义为:让一个样品与另一个样品接触的操作(有时采用重复方式),该操作能够对将要使用的两种样品中的至少一种样品进行量化。 [0005] In essence, the processing liquid is defined as: Let a sample is contacted with the operation of another sample (sometimes in a repeated manner), the operation can quantify at least one sample two samples will be used in. 尽管事实上液体的狭隘定义严格地表明材料处于液体的形式,但在下文中我们提到的液体处理是将处于固态(例如,粉末)、液态或气态-或处于这些状态的任何混合形式(例如,包含像细胞培养液和乳液等混合在一起的固体和液体或像凝胶等混合在一起的气体和液体的异构样品)的材料进行处理的通用操作。 Despite the fact that the narrow definition indicates that the liquid material is strictly liquid form, but in the following we mentioned liquid treatment is to be in a solid (e.g., powder), liquid or gaseous - or in any hybrid form of these states (e.g., like the material comprising the mixed cell culture and the like with an emulsion of solid and liquid or gel mixed isomers as a sample of the gas and liquid together) performs general processing operations.

[0006] 在液体处理领域中,大多数解决方案可以通过不同的性能等级来表征,其中这些性能是根据用户感兴趣的不同方面来限定的,并且如下这些性能构成了应用的原因:例如,灵活性、易用性、生产量、再现性、可追溯性以及成本效益。 [0006] In the field of liquid handling, most solutions may be characterized by different performance levels, where these properties are of interest according to various aspects of user defined properties and as such constitute Cause applications: e.g., flexible , ease of use, productivity, reproducibility, traceability and cost-effectiveness. 灵活性定义为:在宽的体积范围内以及对于液体的不同特性(还涉及其他特性和要求)处理异构过程的能力。 Flexibility is defined as: in a broad range of volumes and different characteristics of the liquid (also relates to other features and requirements) the ability to process a heterogeneous process. 易用性定义为:采用该方法时需要最少培训的性质,以及将用户的意图更快和更直观地转化成正确且期望的操作。 Ease of use is defined as: the nature of minimal training required when using this method, and the intention of the user more intuitively and quickly converted to the correct and desired operation. 特别是,将用户的意图转化为执行所期望的操作(而在操作的执行期间无需直接的涉入)也被称为可编程性。 In particular, the user's intention to perform the desired conversion operation (without direct involvement during execution operation) are also known as programmable. 生产量定义为:在适当时间单位内能够执行的独立过程、部分从属过程或完全从属过程的量。 Production is defined as: amount of the independent process within a suitable time unit can be performed, partially or entirely dependent process dependent process. 再现性定义为:在任何原因的情况下相同方案的不同实施之间的最小偏差。 Reproducibility is defined as: a minimum deviation between the different embodiments of the same embodiment of the case where for any reason. 再现性可以由相同的操作者或设备在同一时刻或在不同的时刻执行方案来进行评估,但它还可以包括由不同的操作者或不同的设备产生的偏差(特别是,当相对于由用户定义的目标性能进行评估时),该偏差也称为精度。 Reproducibility can be performed at the same time or by the same operator or device at different execution time evaluation program, but it may also include a bias due to different operators or different devices (in particular, when the user with respect to when the defined target performance was evaluated), which is also referred to as a deviation precision. 例如,生物过程中的精度不足可能由用于液体处理步骤的定时的慢钟产生-或由液体处理设备的容积刻度尺的不正确的刻度产生。 For example, biological processes may result from lack of accuracy of the timing of the slow clock for the liquid processing steps - or scale by volume of the liquid processing apparatus generates an incorrect scale. 可追溯性定义为:保持已经实施的实际过程的记录用于后验分析和验证的性质,该实际过程包括在方案执行期间诸如可能的故障或失误等不可预知的事件。 Traceability is defined as: the actual recording process has been implemented for holding properties posteriori analysis and verification of the actual process may include events such as faults or other unpredictable errors during program execution. 成本效益定义为:对液体处理装置的购买、用户培训、耗材成本、维护成本、运行成本、维修成本以及在液体处理装置的使用寿命结束时的报废成本等组成的成本进行加权和。 Cost-effectiveness is defined as: the purchase of liquid handling devices, user training, supplies costs, maintenance costs, cost components of operating costs, maintenance costs and retirement costs, etc. At the end of the service life of the liquid processing apparatus and weighted.

[0007] 现今,由操作员手动地执行液体处理,或者利用不同类型的自动设备进行液体处理。 [0007] Nowadays, performed manually by the operator handling the liquid, or by using different types of liquid handling automation equipment.

[0008] 在大多数常规实验室环境中,利用允许对所输送的样品做定量测定的工具(定义为移液管)进行液体处理。 [0008] In most conventional laboratory environment, allowing the use of tools conveyed sample quantitatively determined (defined as pipettes) for liquid handling. 在液体的情况下,通常的做法是利用样品的体积来估计样品的量。 In the case of a liquid, the usual practice is to use the volume of sample to estimate the amount of sample. 因此,通常利用容积可调的移液管执行手动液体处理,该容积可调的移液管能够将液体以操作者预先定义的已知量从一个容器输送到另一个容器中。 Thus, generally performed manually using a pipette with adjustable volume liquid processing, the adjustable volume pipette known amount of liquid can be pre-defined transport operator from one vessel to another vessel. 在下文中,我们将移液管定义为可用的液体处理工具,并且移液管最初设计用于手动液体处理的程序,或至少部分设想用于该应用或仅受启发将该工具用于这个目的。 In the following, we will define the available pipette liquid handling tools and pipettes were originally designed for manual liquid handling program, or application, or the only inspired contemplated for the tool is at least partially used for this purpose. 还应提到的是,在市场上可以买到两种类型的移液管:电子移液管和机械移液管。 It should also be mentioned that in the two types of commercially available pipette: mechanical and electronic pipettes of the pipette. 虽然电子移液管在标度和人类工程学方面具有一些优势,但是机械移液管因为经济、实施性、坚固、较低廉且易于操作等优点仍然占据很大一部分市场。 Although electronic pipette has some advantages in scale and ergonomics, but mechanical pipette because of economic, sexual, rugged, relatively inexpensive and easy to operate and so continues to occupy a large part of the market. 最重要的是,机械移液管已经成为与非常精确的标准(例如IS08655标准)相应的行业标准工具。 Most importantly, the mechanical pipette has been very precise and standard (e.g. IS08655 standard) appropriate industry standard tools. 人体工程学的差异主要涉及例如出于吸出液体、分配、混合以及弹出吸头的目的由操作者拇指施加在移液管本身上的力(也定义为拇指动作)。 Ergonomic difference relates example for aspirated liquid dispensing force on the pipette itself (also defined as the operation of the thumb) and the purpose of mixing pop suction head applied by the operator's thumb. 在下文中,涉及移液管的所有动作称为移液管的操纵。 Hereinafter all actions involving pipette of pipette called shift manipulation.

[0009] 在大多数情况下,出于避免污染的目的,移液管通常通过吸头与样品相接触,吸头是耗材,其旨在避免移液管本身与液体的直接接触-否则将不可避免地会将不希望的分子输送到不希望的地方。 [0009] In most cases, for the purpose of avoiding contamination of the pipette tip usually by contact with the sample tip are consumables, it is intended to avoid the pipette itself is in direct contact with the liquid - otherwise it shall not will avoid the undesirable molecules delivered to an undesirable place. 吸头的使用在工业和科研环境中已经成为标准的做法,吸头具有多种可用的类型,并且可由客户根据它们的最大容积、是否具有过滤器、分子的表面吸收特性、材料、品牌以及最终成本来选择。 Tips used in industrial and scientific environments has become a standard practice, the suction head has a plurality of types are available, and by the customer in accordance with their maximum volume, whether the filter, the absorption characteristics of surface molecules, materials, brand and final cost option. 移液管吸头可以被认为是特定的移液管配件,或者作为实验室设备中的定义为耗材的较大类的一部分,该耗材包括通常在液体处理和生物或化学反应领域中使用的其他微孔板、管、Eppendorf管、微管、真空采集管、过滤器、容器、小盒、小瓶以及瓶等。 Pipette head may be considered as a specific pipette fittings, laboratory equipment or as defined as part of a larger class of consumables, the supplies, including commonly used in the liquid handling biological or chemical reactions and other art microplates, tubes, Eppendorf tubes, microtubes, vacuum tube, filter, container, capsule, vials and bottles.

[0010] 近年来,制药、生物技术、化工、医疗保健及相关行业已经越来越多地采用自动化解决方案来进行各种反应和分析。 [0010] In recent years, pharmaceutical, biotechnology, chemical, healthcare and related industries have been increasingly using automation solutions to a variety of reaction and analysis. 这些自动化设备的好处包括:在高生产量时的再现性、速度、容量以及减少最终成本,能够使一些用户用有限的人工干预来进行大量反应,以及通常并行进行多个反应。 These benefits automation equipment comprising: reproducibility at high production volume, speed, capacity, and reduce the final cost, some users can be carried out a plurality of reaction with limited human intervention, and a plurality of generally parallel reactions.

[0011]自动化设备通常与需要较高生产能力的实验室相关,因为当需要进行大量的处理时,自动化设备的尺寸、成本以及操作的复杂性吸引用户使用它们。 [0011] automated laboratory equipment is generally associated with a high production capacity required, because when a large amount of processing is required, the size of the automation equipment, the cost and complexity of use thereof to attract a user operation. 然而,当严格需要再现性和可追溯性的特征时(比如在医疗保健和诊断的部门中),自动化设备有时也用于低生产量和中生产量的环境中。 However, when strictly necessary reproducibility and traceability features (such as in healthcare and diagnostics sectors), automation devices sometimes used in low production and production environments.

[0012] 医疗保健部门中的应用实例在于异构生物流体的处理,该异构生物流体定义为:具有从宏观层面上在视觉上可选择的不同成分的生物或化学流体。 [0012] Examples of applications in the health sector is to deal with heterogeneous biological fluid, the biological fluid is defined as isomers: a biological or chemical fluid from the macro level selectable visually different components. 已知的实例包括:例如出于使白细胞层与红细胞和血浆(血清)相分离的目的,在分馏之后处理分离的血液。 Known examples include: for example, for the purpose of making red blood cells and the buffy coat and plasma (serum) phase separation, the process of separating the blood after the fractionation. 通过手动移液管从管中提取白细胞层是非常不可靠的、不精确的、困难的和耗时的操作。 By a manually operated pipette extracted from the buffy coat tube is very unreliable, inaccurate, difficult and time-consuming operation. 因此,血站采用高度复杂的专用自动化系统,如由Quilla等人所描述的自动化系统(国际流行病学期刊2008年第37期第51-55页(Internat1nal Journal ofEpidem1logy2008;37:151-155)上的文章),其解决了在生产量高时所需要的精度和可重复操作的问题。 Therefore, a highly sophisticated blood bank specific automation systems, such as the automated system described Quilla et al (International Journal of Epidemiology 37 2008 pp. 51-55 (Internat1nal Journal ofEpidem1logy2008; 37: 151-155 on) article), which solves the problem of accuracy and repeatable operation at high production needs. 然而,如在医院和分析实验室等较小的临床环境中,处理数量较少的患者样品将有益于以较有限的生产量获得相同再现性的优点。 However, as in a small hospital and clinical environment analysis laboratories, the small number of patients treated samples would be beneficial to obtain more limited amount of production of the same advantages of reproducibility.

[0013]自动化设备的成本往往与它们的机械复杂性相关:确保在大面积上具有精确和可重复的运动则需要精密的机械,该精密的机械包括占有很大重量的不变形的金属框架,从而最终使得这些系统不可运输并且制造成本高昂。 [0013] The cost of an automated equipment often related to their mechanical complexity: to ensure a precise and repeatable precise mechanical motion is required over a large area, not including the precise mechanical deformation of the metal frame has a large weight, not ultimately makes these systems expensive to manufacture and transport. 重量和尺寸对运行成本也具有很大的影响,因为不得不由专门人员在现场进行维护、修理、培训以及升级。 Weight and size also has a great impact on operating costs, because he had to carry out maintenance, repair, training and upgraded in the field by specialized personnel. 此外,重的系统意味着需要更强的电机和更高的电流吸收,从而使得它们的设计更复杂并且制造成本高昂。 In addition, the system means that heavy stronger and higher current absorption of the motor, so that their design is more complex and expensive to manufacture. 更不用说设备的便携性以及易于集成到现有实验室等方面。 Not to mention portable devices and easy integration into existing laboratories and other aspects.

[0014] 在其它的自动化系统之中,液体处理过程的一项极重要的要求是相对于最新技术水平的已验证方案的实际再现性。 [0014] Among other automated systems, a liquid treatment process is a very important requirement for actual program verified with respect to the reproducibility of-the-art. 由于大多数的化验开发是通过手动液体处理进行的,因此显而易见的是,手动液体处理所形成的结果通常构成了用于给定液体处理系统的参考。 Since most of assay development is carried out by manual liquid handling, thus apparent that the result of the manual liquid handling is typically formed constitutes a reference for a given liquid handling system. 然而,对于本领域技术人员熟知的是(例如,Pandya等人在药学与生物医学分析期刊2010年第53 期第623-630 页(Pandya et al.-Journal of Pharmaceutical and B1medicalAnalysis53, 2010,pg.623-630)上的文章),手动液体处理特别是会漏掉可追溯性、精确性和再现性。 However, the skilled person is well known (e.g., Pandya, et al., Journal of Pharmaceutical and Biomedical Analysis 2010 53 pages 623-630 of (Pandya et al.-Journal of Pharmaceutical and B1medicalAnalysis53, 2010, pg.623 -630) of the article), especially manual liquid handling miss traceability, accuracy and reproducibility. 出现这种情况部分是由工具刻度和性能造成的,因为总的来说它是人性的结果和人之间的指令的传播(包括培训)。 This occurs in part caused by the scale and performance of the tool, because it is generally spread between the instruction and the result of human (including training). 此外,手动液体处理工具的低购置成本不应该掩盖因需要具有操作员而产生的巨大的操作成本。 In addition, the low acquisition cost of manual liquid handling tools should not obscure the enormous operating costs due to the need to have an operator generated. 手动液体处理工具尤其还会出现如下情况:即,由于涉及移液管的重复操作会给肌肉骨骼系统引入很大的负担,可能导致与工作相关的疾病的后果。 Manual liquid handling tools in particular, there will be the following: That, as it involves the musculoskeletal system will repeat pipette introduce significant burden, could lead to consequences of work-related diseases. 因此,一个操作员的潜在生产能力不得不受到限制,以使如累积性创伤失调(CTDs)和重复性负担损伤(RSIs)等不同病症发生的风险降到最低。 Therefore, the potential production capacity of one operator had to be limited, so that the risk of such cumulative trauma disorders (CTDs) and the burden of repetitive injuries (RSIs) and other different diseases that occur to a minimum. 明显的是,人们期望从专业环境中完全除去这些风险;然而,用自动液体处理系统直接替代人的手工操作会与各种活动中所需要的必要的灵活性产生冲突,并且由于自动化基础设施的采用和运行需要承担巨大的初始成本,所以还会与经济性因素产生冲突。 Obviously, it is desirable to remove these risks from a completely professional environment; however, using an automated liquid handling system is a direct replacement for manual human conflict with the necessary flexibility required for various activities, and due to the automation infrastructure the use and operation need to take a huge initial cost, it will conflict with economic factors. 总之,现有的证据表明:在手动液体处理操作和自动液体处理系统之间存在差距,但它们最终会以不同的方式实现液体处理目标,并且在实用性上不会重叠。 In summary, available evidence suggests that: there is a gap between the manual operation and automatic liquid handling liquid handling system, but they will ultimately achieve the processing target liquid in different ways, and do not overlap in the application. 本发明解决了这个差距,并提供了一种有用的工具来研宄环境和行业。 The present invention addresses this gap and provides a useful tool to study based on the environment and industry.

[0015] 液体处理系统的另一个关键要求在于它的可运输性,以及在实验室中的小空间的使用性。 [0015] Another key requirement is that the liquid handling system which can transport, as well as the use of a small space in the laboratory. 可运输性使用户能够获得较低的最终成本,可避免系统的现场安装以及现场支持和维护。 Transportability enables users to obtain a lower final cost, avoid installing the system on-site and on-site support and maintenance. 具有小占地面积和较轻重量的系统允许其安装在常规实验室环境中,而无需特定的基础设施,并且能更好地集成到现有实验室的工作流中。 A small footprint and lighter weight system allows mounted in a conventional laboratory environment, without requiring a specific infrastructure, and better integration into existing laboratory workflow. 此外,较轻重量的系统使用较少的电流,从而在电力供应受限的区域中能够使用电池或太阳能。 Furthermore, lighter weight systems use less current, it is possible to use a battery or solar power supply is limited in area.

[0016] 作为移液管,包括用于手动液体处理目的的最新技术水平的设计方案,一些现有技术的总结包括: [0016] As the pipette comprises a manual liquid handling-art design purposes, a summary of some prior art comprises:

[0017] Gilson等人(US3827305)教导了一种具有可调容积机构的助手移液管; [0017] Gilson et al. (US3827305) teaches assistant mechanism having an adjustable volume pipette;

[0018] Magnussen等人(US4905526)教导了一种电辅助移液管; [0018] Magnussen et al. (US4905526) teaches an electric auxiliary pipette;

[0019] Scordato等人(US4821586)教导了计算机控制的移液管的实例; [0019] Scordato et al. (US4821586) teaches a pipette example computer controlled;

[0020] Gilson等人(US6158292)教导了一种用于液体处理移液管的吸头弹出系统; [0020] Gilson et al. (US6158292) teaches a process for the liquid aspirating pipette head of the ejection system;

[0021] Cronenberg等人(US6977062)教导了一种包括吸头识别方法的自动吸头移除系统; [0021] Cronenberg et al. (US6977062) teaches a method of identification of tip comprising a tip removal system automatically;

[0022] 作为自动液体处理系统、它们的工程方案以及它们的概念设计,一些现有技术的总结如下: [0022] As an automated liquid handling system, engineering solutions thereof and their conceptual design, some of the prior art are summarized as follows:

[0023] Gilman等人(US2003/0225477)公开了一种模块化的仪器装置和用于处理实验室器具的方法。 [0023] Gilman et al., (US2003 / 0225477) discloses a modular instrument apparatus and method for handling labware.

[0024] Pfost等人(US5104621)公开了一个自动化的多用途分析化学处理中心和实验室工作站。 [0024] Pfost et al. (US5104621) discloses a multi-purpose automated analytical chemistry processing center and laboratory work station.

[0025] Shumate等人(US6372185)公开了一种液体化学分配方法和装置。 [0025] Shumate et al (US6372185) discloses a method and apparatus for dispensing the liquid chemical.

[0026] Bjornson等人(US2006/0127281)公开了一种具有集成的液位和/或气泡检测的移液装置。 [0026] Bjornson et al. (US2006 / 0127281) discloses an integrated liquid level and / or pipetting device having a bubble detection.

[0027] Kowalski等人(US5139744)公开了一种具有模块识别装置的自动化实验室工作站。 [0027] Kowalski et al. (US5139744) discloses an automated laboratory workstation having a device identification module.

[0028] 作为其他方案,在低生产量时将自动化集成到专用系统中,或描述特定应用的专用系统,现有技术包括: [0028] As another embodiment, at low production automation system integrated into a dedicated, application-specific, or described in a particular system, the prior art comprises:

[0029] Zucchelli等人(US7152616)教导了用于流体的可编程微尺度操纵的设备和方法; [0029] Zucchelli et al. (US7152616) teaches a method and apparatus for a programmable fluid microscale manipulation;

[0030] Blanton等人(US7601300)教导了一种用于在诊断环境中以低生产量处理测试样品的紧凑型集成系统。 [0030] Blanton et al. (US7601300) teaches a process for the production of a low compact integrated system test sample in a diagnostic environment.

[0031] Clark等人(US5482861)教导了一种自动化连续和随机存取的分析系统; [0031] Clark et al. (US5482861) teaches a system for automated analysis of continuous and random access;

[0032] Wegrzyn等人(US2004/0241872)教导了一种光学检测液体处理机器人系统; [0032] Wegrzyn et al., (US2004 / 0241872) teaches a liquid handling robot the optical detection system;

[0033] Ruddock等人(US7105129)教导了一种使用供电式砧的孔板的液体处理机器人。 [0033] Ruddock, et al. (US7105129) teaches a powered using liquid handling robots anvil plate.

[0034] 总的来说,现有技术的一个缺点是一直难以使灵活性(以完全可编程和可配置的设备的形式)与简单性(以低成本制造和低成本运行的形式)和再现性(自动液体处理系统的特性)相协调。 [0034] In general, a drawback of the prior art is difficult to have the flexibility (in the form of fully programmable and configurable devices) and simplicity (in the form of low cost and running cost) and reproducing resistance (characteristics of automated liquid handling system) coordinate.

[0035] 本发明满足了如下需要,即需要灵活的、可重复的、可追溯的方案来进行液体处理,同时提高了手动操作的优点并带来了以较低成本实现自动化的好处。 [0035] The present invention satisfies the following needs that require flexible, reproducible, traceable scheme for liquid handling, while improving the advantages and manually bring the benefits of automation at low cost.


[0036] 本发明涉及一种用于以可编程的方式操纵移液管的装置和方法:我们对利用这些方法的系统和设备定义为液体处理机器人或简单的机器人。 [0036] The present invention relates to a method for programmably manipulating apparatus and method for shifting the pipette: We define the system and method of use of these devices is a simple liquid handling robots or robots.

[0037] 因此,在本发明的一个方面中,由装置操作多个移液管,该装置包括多个移液管;至少一个臂部,其操纵多个移液管中的至少一个移液管;以及一个软件界面,其允许定义将执行的液体处理方案并控制臂部的行为。 [0037] Accordingly, in one aspect of the present invention, a plurality of devices by the operation of the pipette, the apparatus comprising a plurality of pipettes; at least one arm, which manipulate multiple pipette least a pipette ; and a software interface, which allows liquid processing scheme defines the behavior to be performed and the control arm.

[0038] 在本发明的另一个方面中,公开了一种用于通过手动移液管执行液体处理的方法,该手动移液管通过机械臂自动操作来实现抓握合适的吸头、设置正确的分配体积、抽吸所需量的液体、分配所需量的液体、弹出吸头。 [0038] In another aspect of the present invention, a method is disclosed for manually performing liquid handling pipette, which is a manually operated pipette is achieved by automatic operation of the robot arm suitable gripping tip provided correctly volume of distribution, the desired amount of liquid is aspirated, the required amount of liquid dispensing, the pop-up tip.

[0039] 在本发明的另一个方面中,出于液体处理的目的,使用摄像机通过从多个角度和位置成像平台区域来,同时通过耗材的形状、尺寸、颜色、高度、条形码、显著特征对耗材进行识别、测量和定位。 [0039] In another aspect of the present invention, for the purpose of processing liquid, by using the camera positions and angles from a plurality of imaging platform region, and supplies the shape, size, color, height, bar codes, salient features of the supplies identification, measurement and positioning.

[0040] 在本发明的另一个方面中,摄像机集成在液体处理装置中,并且与控制移液管运动的臂部一起移动,从而能够使用视觉来识别耗材并且利用来自图像的位置信息来精确地掌握移液管与耗材定位的相对位置。 [0040] In another aspect of the present invention, the camera is integrated in the liquid treatment apparatus, and the control arm pipette shift movement to move together, can be used to visually identify and supplies information from the image using the position to accurately grasp the relative position of the pipette is positioned and consumables.

[0041] 在本发明的另一个方面中,一种用于处理生物或化学流体的设备,该设备包括平台区域,该平台区域包括多个在给定位置中的耗材,其中所述给定位置被组集成灵活有序的构造。 [0041] In another aspect of the present invention, an apparatus for processing biological or chemical fluids, the apparatus comprises a platform area, the platform region comprises a plurality of consumables in a given position, wherein said given position It is an integrated set of flexible and orderly structure.

[0042] 在本发明的另一个方面中,一种用于液体处理机器人中的移液管的容积校准的方法,该方法通过以下步骤来实现:将多个预设量的样品分配到至少一个容器中、通过估计被分配的样品的实际量、以及通过将校准的想法并入到软件界面中而不对移液管进行修改。 [0042] In another aspect of the present invention, a method for shifting the pipette volume calibration liquid handling robot is used, which is achieved by the steps of: assigning a plurality of predetermined amount of the sample to the at least one container, the actual amount of sample is dispensed by estimating, and without modification to the pipette by the ideas incorporated into the calibration software interface.

[0043] 在本发明的另一个方面中,一种用于改善液体处理机器人中的移液管的容积再现性的方法,该方法通过以下方式来实现:控制拇指动作的速度,所述拇指动作的速度被调制为体积的函数、移液管活塞位置的函数以及被使用液体分类的函数。 [0043] In another aspect of the present invention, a method of reproducing volume of the liquid handling robot pipette for improving, the method is implemented in the following way: the operation of the speed control thumb, the thumb action the speed is modulated as a function of the volume of the pipette function, and the function is classified using a liquid piston position.

[0044] 在本发明的另一个方面中,一种用于改善液体处理机器人的容积再现性的方法,该方法通过以下方式来实现:包括至少一个测量湿度或温度或压力的传感器并且基于传感器的信息改善移液管的校准。 [0044] In another aspect of the present invention, a method of improving the reproducibility of the volume of the liquid handling robot, the method is achieved by: a sensor comprising at least one measuring humidity or temperature, or pressure-based sensors and shift information to improve the calibration of the pipette.

[0045] 在本发明的另一个方面中,一种用于操纵液体处理机器人中的移液管的方法,该方法通过以下方式来实现:通过优先先验且实时地测量拇指致动压力作为拇指位置的函数,并且在之后仅基于拇指的位置和速度控制拇指动作。 [0045] In another aspect of the present invention, a method of actuating a pipette for liquid handling robot, which is achieved by the following ways: by preferentially priori and measuring in real time as the thumb thumb actuation pressure a function of position, and controls the operation of the thumb after the position and speed based on only the thumb.

[0046] 在本发明的另一个方面中,一种用于操纵移液管的方法,包括测量拇指动作压力作为拇指位置的函数,并且仅基于它的位置操作拇指。 [0046] In another aspect of the present invention, a method for handling of pipette shift method, including measuring the pressure as a function of the thumb thumb operation position, based only on its position and operation of the thumb.

[0047] 在本发明的另一个方面中,一种用于处理生物或化学流体的装置,该装置包括承载耗材的平台,其中,该平台为可折叠的类型或自组装的类型。 [0047] In another aspect of the present invention, an apparatus for the biological or chemical processing fluids, the apparatus comprising a consumable carrier platform, wherein the platform is a self-assembling foldable type or the type.

[0048] 在本发明的另一个方面中,一种用于处理生物或化学流体的方法,在该方法中:允许摄像机对移液管吸头进行成像,相同的吸头对于光线部分透明,其中,出于核实、体积确定、跟踪和质量控制的目的,摄像机能够目测吸头内部的液体,并且摄像机所捕捉的图像能够估计吸头中所含的液体体积。 [0048] In another aspect of the present invention, a method for processing biological or chemical fluids, in which method: the camera allows for pipette head imaging, the same tip portion transparent to light, wherein , for verification, to determine the volume, and quality control of the object tracking, the camera can be visually liquid inside the suction head, and the image captured by the camera is able to estimate the volume of the liquid contained in the suction head.

[0049] 在本发明的另一个方面中,一种用于处理如分离的血液或分离的牛奶或含有细胞的流体或珠载液体或悬浮液或乳液等异构生物流体的方法,在该方法中:机械臂允许操纵移液管,允许摄像机对移液管吸头进行成像,允许摄像机对生物流体进行成像,其中,从图像中提取并使用吸头相对于各种生物流体成分的相对位置,以控制移液管在某一位置的抽吸和分配。 The method of heterogeneous biological fluid milk or fluid containing cells or beads contained in a liquid or suspension or emulsion or the like [0049] In another aspect of the present invention, a method for processing blood isolated or separated, in which method in which: the robot arm allows manipulation of the pipette, allowing the camera to the pipette head image, the camera allowing imaging of biological fluid, which is extracted from the image and use the suction head with respect to the relative position of the various components of the biological fluid, pipette to control the aspiration and dispensing of a location.

[0050] 在本发明的另一个方面中,一种用于处理液体处理机器人中的生物或化学流体的方法,该方法包括:通过摄像机对相对于耗材的移液管吸头同时成像,以及使用图像中的信息以确定吸头相对于耗材在空间中的相对位置来操纵移液管。 [0050] In another aspect of the present invention, a liquid handling robot for biological or chemical processing fluids, the method comprising: a camera with respect to the supplies of pipette while the imaging head, and using information in the image to determine the relative position of the tip in the space supplies manipulated pipette.

[0051] 在本发明的另一个方面中,一种用于确定容器中的液面的方法,该方法包括:对液体外部目标成像,以及在朝液体表面移动时比较相同目标的图像,其中,通过液体与目标的接触而获得的目标图像中的变化允许确定液面相对于目标的位置。 [0051] In another aspect of the present invention, a method of liquid level in a container for determining, the method comprising: forming an image on the liquid outside the target, the target and comparing the same time moving towards the liquid surface, wherein change in the target image by contacting the liquid with the target being obtained allows to determine the position of the target with respect to the liquid surface.

[0052] 在本发明的另一个方面中,一种用于确定关于包含在吸头架中的吸头的信息的方法,该方法包括:对吸头架进行成像以及对吸头架内的一个或多个标签进行识别,其中标签提供了关于吸头架内的吸头的数量、位置或类型的信息。 [0052] In another aspect of the present invention, a method comprises the information about the tip of the tip rack for determining, the method comprising: imaging tip rack, and a tip of the inner frame identifying one or more tags, which tags provide information on the number of pipette tips in the tip rack, the location or type.

[0053] 通过实施例及附图的详细说明,本发明的这些和其他优点、目的和特征将会变得更加清楚。 [0053] The detailed description and drawings of embodiments embodiment, these and other advantages, objects and features of the present invention will become more apparent. 还应理解的是,以上的概括性说明和以下的详细说明都是示例性的,而非限制本发明的范围。 It should also be understood that both the foregoing general description and the following detailed description are exemplary, rather than limiting the scope of the present invention.


[0054] 图1是示出了液体处理机器人的三维图; [0054] FIG. 1 is a diagram illustrating a three-dimensional view of a liquid handling robot;

[0055] 图2示出了通过基于视觉的反馈设置所需移液管容积的细节; [0055] FIG 2 shows details of the required visual feedback provided by the pipette volume based;

[0056] 图3示出了通过固定的夹具和移液管本身的运动来弹出吸头的方法; [0056] FIG. 3 illustrates a method by means of a clamp and moving the pipette tip to eject itself of;

[0057] 图4示出了基于视觉追踪被使用的液体体积的细节; [0057] FIG. 4 shows a detail of visual tracking based on the volume of liquid to be used;

[0058] 图5示出了移液管吸头相对于其他耗材的基于视觉的相对定位的细节; [0058] FIG. 5 shows a pipette head with respect to the other consumables details relative positioning based on vision;

[0059] 图6是示出了液体处理机器人第二实施例的三维图; [0059] FIG. 6 is a diagram showing a three-dimensional view of a second embodiment of a liquid handling robot;

[0060] 图7是描述手部的细节的三维图,该手部能够抓握移液管、致动吸液和分配、以及弹出吸头; [0060] Figure 7 is a three dimensional view of a detail of the hand, the hand unit can grasp the pipette, aspirate and dispense actuator, and an ejection tip;

[0061] 图8示出了基于多米诺块的多米诺平台的结构和构成; [0061] FIG. 8 shows the structure and composition based on Domino platform domino blocks;

[0062] 图9示出了出于臂部位置三维定位的目的使用计算机视觉的一个实施例; [0062] FIG. 9 shows an embodiment of the three-dimensional position of the positioning arm for the purpose of using a computer vision;

[0063] 图10示出了臂部位置三维定位的能力和用于提高系统固有空间分辨率的方法的应用;以及 [0063] FIG. 10 illustrates the ability to position the arm and the three-dimensional positioning system to improve the intrinsic spatial resolution application method; and

[0064] 图11示出了出于将可用吸头定位在吸头架中的目的使用计算机视觉的一个实施例。 [0064] FIG. 11 shows an embodiment of a suction head available for the purpose of positioning the tip rack used in computer vision.

具体实施方式 Detailed ways

[0065] 本发明涉及移液管的操纵及其多个应用。 [0065] The present invention relates to the manipulation of the pipette and a plurality of applications. 出于说明的目的,附图以及说明书通常将解决此方案的装置称作为液体处理机器人。 For purposes of illustration, the drawings and description generally means the solution of this scheme is referred to as a liquid handling robot. 然而,本发明所公开的装置同样适用于液体处理领域中更普遍的实施例。 However, the apparatus disclosed in the present invention is equally applicable to the field of liquid handling more general embodiment of Fig.

[0066] 液体处理机器人的概述 [0066] Summary of the liquid handling robot

[0067] 液体处理机器人的总体结构包括少数几个元件,结构中的所有元件具有给定的功能作用。 [0067] The overall structure of the liquid handling robot comprising a few elements, all the elements of the structure having a given functional role. 从本质上讲,液体处理机器人在某个平台的上方进行操作,该平台可包括或不包括机器人本身的基部。 Essentially, the liquid handling robot above the operation of a platform, the platform may or may not include a base of the robot itself. 平台可以是物理部分,柔软的或坚硬的,也可以是没有定界的虚拟区域,例如属于实验室的工作台。 Platform can be a physical part, soft or hard, it can be no delimitation of the virtual area, for example, belong to the lab bench. 平台还可以是多个较小单元(称为块)的物理组件,这些块结合在一起以形成较大的操作表面。 Platform may also be a plurality of smaller unit physical components (called blocks), these blocks together to form a larger operating surface. 液体处理机器人主体(也称为基部)给臂部提供了物体支撑,并且液体处理机器人主体可能包括像电源插头、通用开关、照明器、绞扭器、设置摄像机、臂部固定器、USB集线器、吸头废料托盘、移液管架、提手等额外的硬件。 Liquid handling robot body (also referred to as a base) to provide an article support arm and the body may include a liquid handling robot as power plug, universal switching, lighting, a twister, a camera is provided, the arm holder, USB hub, tip waste tray, shifting additional hardware liquid pipe racks, handles and the like. 最重要的是,主体的目的是给臂部的运动提供一定的稳定支撑。 Most importantly, the main purpose is to provide a stable support for the movement arm. 臂部构成了主要的机电元件:它产生了手部在空间中的运动,主要是在二维表面的上方移动,但也能够提升和降低移液管以进行所需的移液管动作。 It constitutes a major arm portion electromechanical device: it produces a movement of the hand in the space portion, mainly in the upper surface of the two-dimensional movement, but it is possible to raise and lower the pipette pipette required operation. 臂部与主体相连接,并且该臂部可以包括手部,或者与手部相连接。 The arm is connected to the main body, and the arm portion may include a hand, or is connected to the hand portion. 手部构成了主体的与移液管接触的一部分,并且具有抓握移液管并将移液管放在移液管架上的可选能力。 Hand constitutes a part of the tube in contact with the pipette body and the pipette and having a gripping pipette in the pipette rack optional capability. 此外,手部可包含手部摄像机、出于吸液和分配目的而操纵移液管旋钮的功能、弹出吸头的功能以及出于设定所需容积目的而致动移液管的功能。 In addition, the hand unit may comprise a hand camera, for the purpose of pipetting and dispensing pipette operating function knob, the pop-up tip and a function for setting a desired volume of the object to actuate the pipette. 该系统还配有软件界面,该软件界面的目的包括:控制臂部的运动、手部的动作、与摄像机进行通信并处理图像、以及尤其是出于可编程性目的和报告目的管理与用户的所有交互。 The system is equipped with software interface, software interface of the object comprises: controlling the motion of the arm, the hand movements, in communication with the camera and image processing, and in particular for the purpose and programmable management and user reporting purposes All interactions.

[0068] 可能的液体处理机器人可以做成如图1所描述的那样。 [0068] Possible liquid handling robot 1 can be made as described in FIG. 主体101可以是注塑成型的聚合物结构(整体的形式或者是各种部件的形式),主体101包括:有源元件(如电子设备和摄像机)和如优选地定位在下部104中的压载配重(固体或液体填充)等无源元件。 The body 101 may be injection molded polymer structure (in the form of a whole or in the form of the various components), the main body 101 comprising: an active element (e.g., cameras and electronic devices) and is preferably positioned as ballast in the lower portion 104 with weight (solid or liquid filled) and other passive components. 在一些实施例中,主体可包括旨在提供额外稳定性的脚部(未示出)。 In some embodiments, the body may include a leg portion designed to provide additional stability (not shown). 在其他实施例中,主体可利用承载电池和接口定位在实验台上,但是主体还可设计使用在其他环境中,如使用在便携式工具领域中。 In other embodiments, the body and the interface may be utilized carrier cell positioned on the bench, but the body may also be designed for use in other environments, such as used in the field of the portable tool. 在该图中,主体承载有压载物104、用于可移动吸头架103的容器、在位置102处的主体摄像机(用于容积设定以及可能用于针对入侵检测的平台区域监控和检查)、多个移液管插槽121 (以容器或挂具或磁性托架的形式或以类似设计用来承载如105所示移液管的形式)。 In the drawing, the body carrying the ballast 104, the container for the movable tip rack 103, the camera body 102 in a position (and possibly for the volume setting for the monitoring and inspection platform region for intrusion detection ), a plurality of pipette slot 121 (in the form of a container or rack or magnetic carrier designed to carry a similar or shifted version of the pipette as indicated by 105). 主体可包括如附图标记108所表示的提手,以及如附图标记109所表示的机械元件,该机械元件使得,例如通过允许更容易地接触吸头弹出按钮,更容易与移液管进行相互作用。 The body may include a handle indicated by reference numeral 108, and reference numeral 109 represents a mechanical element, the mechanical element such that, for example, by allowing the suction head contacts the eject button more easily, and easier pipette interaction. 主体可包括绞扭器122,该绞扭器定义为能够设定移液管容积的致动器。 The body may include a twister 122, the twister can be defined as the set of the actuator of the pipette volume. 通常情况下,通过扭动移液管的旋钮来进行这个操作,但对于电子移液管,还可以通过例如远程蓝牙通信或物理电连结的电子方法来实现。 Typically, shifting is performed by twisting the knob of the pipette, but not for the electronic pipette, can be achieved by electronic means, for example, electrically or physically remote Bluetooth communication link. 应注意的是,额外的电子配件能够提高系统的优点:例如,通过对传感器信息进行集成和修正,温度传感器或压力传感器或湿度传感器(它们可能连接至USB集线器并且从软件界面直接读取)能够改善移液管的刻度。 It should be noted that additional electronic components can improve the advantage of the system: for example, by integrating the sensor information and correction, temperature sensor or a pressure sensor or a humidity sensor (which may be connected to a USB hub, and read directly from the software interface) can be improve the shift graduated pipette.

[0069] 平台区域106限定了液体处理机器人的工作表面,该平台区域106大于、小于或等于臂部的工作范围。 [0069] The platform 106 defines a working surface area of ​​the liquid handling robot, the platform region 106 is greater than, less than or equal to the operating range of the arm. 平台区域可具有圆形形状、矩形形状或类似的形状。 Platform region may have a circular shape, a rectangular shape or a similar shape. 优选地,平台具有使用户能直观察觉正确定向的形状。 Preferably, the platform has a user can intuitively perceive properly oriented shape. 平台可以是虚拟区域,例如由简单的照明限定的区域,还可以是柔垫(例如,硅垫,该硅垫能够很容易卷起来以减小其尺寸并且在放置在工作台上时恢复平坦的正形投影形状),或是刚性的金属板或聚合物板(包括木头或复合材料)。 Platform may be a virtual area, for example, a simple defined area lighting, may also be a soft pad (e.g., a silicon cushion, the silicon can be easily rolled up mat to reduce its size and restored when placed flat on the work table conformal shape), or a rigid metal plate or a polymer plate (including wood or composite material). 因为液体处理机器人的便携性构成了服务和支持操作的主要优点,所以重要的是要强调虚拟平台或可折叠平台的可能优点,从而使机器人的装运在成本方面的影响更加有效。 Because the portability of liquid handling robots constitute the main advantages of service and support operations, so it is important to emphasize the possible advantages of a virtual platform or foldable platform, so that the impact of the cost of shipping the robot more effective. 此外,可折叠平台或虚拟平台在机器人未使用时能节省空间。 In addition, the foldable platform or virtual platform when the robot is not in use can save space. 平台可包含多个向用户或向系统本身提供特定信息的位置。 Internet may include location specific information to provide to a user or system itself plurality. 例如,向用户提供的标签、警告、说明、注意事项以及免责声明,还有向系统本身提供的定位标记、条形码、编码符号、标签、基准点,以利用摄像机提高移液管和耗材的空间定位。 For example, the label provided to the user, a warning, instructions, precautions, and disclaimers, as well as the positioning mark provided to the system itself, bar codes, coding symbols, labels, a reference point, with a camera in order to improve the spatial positioning shift pipette and consumables . 可以将多个类型的耗材(例如,附图标记107所表示的微孔板)以自由的形式构造、或者是以固定或几乎固定的形式构造定位在平台上。 May be a plurality of types of consumables (e.g., indicated by reference numeral 107 microplate) constructed in the form of free or immobilized form at a fixed or nearly positioned on the platform structure. 固定的形式构造意味着将耗材精确地定位在给定的位置中,并且对于其定向不留有任何的选择余地,而几乎固定的形式构造表示耗材的近似区域,并且对于其定向在标称位置附近留有旋转和位移的选择余地。 Fixing means configured to form the consumable accurately positioned in a given position and orientation for which does not leave any room for selection, and an almost fixed structure indicates the approximate region in the form of supplies and oriented in its nominal position for left rotation and displacement of choice nearby. 固定的形式构造可从插槽、导轨或类似方案中受益。 Immobilized form configuration can benefit from the slot, rail or the like scheme. 在所有的构造中,絹网印花图形或印刷图形的存在能够便于用户对板进行定位工作,还能通过摄像机简化耗材定位的功能,并且给用户的感知提供秩序感,从而使相同方案的重复成为更简单的工作。 In all configurations, there are serigraphed pattern or printed pattern of the user can facilitate positioning plate work, but also by simplifying the function of positioning the camera supplies, and provides a sense of order to the perception of the user, so that the same program is repeated becomes more simple task. 可选地,可以使用不同的颜色完成印刷的图形和信息,从而使摄像机更具选择性地识别本文所述的一部分信息。 Alternatively, different colors may be used to complete the printing of graphics and information, enabling the camera to identify more selective part of the information herein.

[0070] 臂部(在该情况下定义为元件110和元件113之间的结构)包括多个致动器或具有类似功能的方案(例如,电机实际定位在臂部外侧的线缆驱动系统,或使用气缸作为致动器的气动系统)。 [0070] The arm (and the element defined as element 110 in this case between the structure 113) comprises a plurality of actuators or the program having similar functions (e.g., the actual location of the motor drive system of the cable outer arm, as a pneumatic cylinder or a pneumatic actuator system). 在本实施例中,致动器选自于集成有齿轮减速和角度反馈的伺服电机的类另IJ,从而允许将致动器设定在其主体和输出轴之间的给定角度处。 In the present embodiment, the actuator is selected gear reduction in the integrated and servo-motor angular feedback IJ another, thereby allowing the actuator between its set and the output shaft of the main body at a given angle. 在单一单元(例如,单元110)中,电源和串行通信链路(例如基于RS232、RS485或USB标准)的规定允许输入和输出不同的信息:输入的实例有所需的位置、运动的速度分布图、最大扭矩、角度接收窗;输出的实例有当前位置、当前速度、单元温度、单元状态以及可能的故障。 Examples speed has entered the desired position, motion of: a single unit (e.g., unit 110), the power supply and the serial communication link (e.g., based on the RS232, RS485 or USB standard) allows different input and output predetermined information map, the maximum torque, angular acceptance window; are examples of output current location, current speed, cell temperature, cell state and possible failure. 臂部的运动主要发生在水平平面中,在耗材具有略微不同的高度时,臂部的运动在平坦且水平的工作台上进行典型的生化操作。 Arm movement occurs mainly in a horizontal plane, when the supplies have slightly different heights, arm movement operations typical biochemical flat and horizontal table. 然而,例如吸头的插入、液体的抽吸和分配均需要竖直运动。 However, for example, the insertion tip, aspirating and dispensing liquids require vertical movement. 在此特定的实施例中,臂部主要是在水平平面中进行操作,并且臂部在竖向平面中具有较有限的偏移。 In this particular embodiment, the arm is operated primarily in a horizontal plane, and the arm has more limited in a vertical plane offset. 实现所需位移的一种方法例如是依靠两个角度致动器(它们在水平平面中设定位置)和竖直线性致动器。 A method to achieve the desired displacement of the two angles, for example, rely on actuators (their set position in the horizontal plane) and vertical linear actuator. 在替代方案中,线性致动器的重量和复杂性能够让人想到其可由两个角度运动来替代,例如角度致动器112和角度致动器113,以允许利用通过同时运动保持移液管的空间定向来上下移动移液管。 In the alternative, the linear actuator by weight and complexity can be reminiscent of angular movement of which may be used instead of two, for example, the angle of the actuator 112 and the angle of the actuator 113 to permit simultaneous movement of the holding pipette by spatial orientation to the vertical movement of the pipette. 考虑到移液管的竖直状态是移液管具有更好容积性能的重要条件的事实,该特征可能是重要的。 Considering the vertical position of the pipette is the fact that an important condition for pipette volume has better performance, which may be important feature. 出于其他原因,可优选的是,增加角度致动器的数量以获得在水平平面中的运动。 For other reasons, it may be preferable, to increase the number of the angle of the actuator to obtain a motion in the horizontal plane. 例如,在一些实施例中,期望的是,相对于方位角旋转来限定竖直移液管的定向:这自然意味着采用至少三个用于水平运动的致动器。 For example, in some embodiments, it is desirable that the azimuthal rotation is defined with respect to the vertical orientation of the pipette: This naturally means using at least three actuators for horizontal movement. 障碍物或固定结构的设置还需要更多数量的致动器,例如如图1所示的四个致动器。 Obstructions or set a fixed structure further requires a greater number of actuators, for example, as four actuators shown. 考虑到实际应用和角度致动器性能,臂部构造的选择应遵循良好的工程实践和常识。 Taking into account the perspective of the practical application and actuator performance, choose the arm structure should follow good engineering practice and common sense.

[0071] 手部的设计可能会利用与应用至臂部的概念和组件类似的概念和组件。 [0071] The design of the hand and may use the concept applied to the arm assembly similar concepts and components. 在所述实施例中,手部始于致动器114,该致动器114实际上是负责抓握移液管的致动器。 In the illustrated embodiment, the hand starts the actuator 114, the actuator 114 is actually responsible for the shift actuator gripping the pipette. 抓取器(为清楚起见,未示出)可以是能够在移液管两侧上施加压力的简单爪形机构。 Grabber (for clarity, not shown) can be a simple claw mechanism capable of applying pressure on both sides of the pipette tube. 抓取器还可以是单一的爪形机构,其中移动爪与对移液管保形的固定爪是相对的。 It may also be a single gripper claw mechanism, wherein the mobile jaw and a fixed jaw is shaped pipette opposite conviction. 在一般情况下,爪可具有保形的形状、平面形状或与移液管接触的有限数量的接触点。 In general, the pawl may have a conformal shape, a planar shape or a limited number of pipetting tube in contact with the contact point. 不同的设计具有不同的优点:根据本实施例,液体处理机器人可设计成处理单一类型的移液管,或设计成处理各种型号的移液管。 Different designs have different advantages: pipette according to the present embodiment, the liquid handling robot may be designed to handle a single type pipette, or designed to deal with various types of pipes. 明显的是,本领域技术人员不得不相应地构思爪部,并且对于不同的移液管他们的设想可能是不同的。 Obvious that those skilled in the art have accordingly conceived claw portion, and the pipette for the different assumptions they may be different. 手部还可包括摄像机123,一旦从主体插槽121中抓起移液管119,出于识别耗材及耗材的空间位置以及吸头120或移液管119的位置的目的,摄像机123将在不同的方向上独立地或依赖性地与移液管一起定向和移动。 A camera 123 may further include a hand, once grabbed pipette main body 119 from the slot 121, for identifying the position of the spatial position and supplies supplies 120 and tip 119 of the pipette or the purpose, the camera 123 will be different independently or dependently with the orientation and movement of the pipette along the direction. 重要的是意识到,使用固定摄像机对生物或化学测试的典型平台表面特性成像而不太远离平台是比较具有挑战性的。 Important to realize that, while not using the camera away from the fixed platform surface properties of imaging of biological or chemical test platform typically is more challenging. 因此,所提出的实施例表明了一种对上述问题的解决方案,该解决方案为对平台区域进行一系列图片成像,该一系列图片单独覆盖一部分有用表面。 Thus, the proposed embodiments show a solution to the above problem, the solution for the series of images imaging platform region, a portion of the series of individual images Useful surface coverage. 该图像能够通过合适的软件以嵌合体的方式重新合成,从而允许具有平台空间及其附近所含有的耗材的概观图像。 The re-synthesized image can be fitted to the body by a suitable software, so as to allow internet overview image having spatial and supplies contained in the vicinity. 通过摄像机或手部的倾斜或平移,合成图像还可允许具有相同平台或平台一部分的多个图像。 By tilting or panning camera or a hand, the composite image may also allow a plurality of images having the same part of the platform or platforms. 出于获得立体信息的目的,可以很容易地利用该特征来重建至少部分三维信息。 For the purpose of obtaining three-dimensional information can be readily utilized to reconstruct at least a portion of the three-dimensional feature information. 为了提取耗材高度方面的信息,该特征特别关联于可能需要移液管吸液和分配位置的正确设置。 In order to extract information height aspect supplies, particularly associated with the feature may require pipette properly set and dispense positions. 假定摄像机具有可调的焦距以及光学构造具有有限的焦深,还可通过使用摄像机的焦距信息来获得三维信息。 Assuming a camera having a focal length and an optical tunable structure has a limited depth of focus, three-dimensional information can also be obtained by using focus information of the camera. 这种方法允许通过目标本身的简单扫描和图像的空间对比分析来提取深度信息。 This method allows a simple spatial image by scanning and comparative analysis target itself to extract the depth information. 彩色摄像机还可提供额外的信息,例如允许基于颜色的空间分布识别耗材和移液管或其他配件。 Color camera may also provide additional information, such as allowing the distribution and recognition supplies a pipette or other color spaces based on fitting. 手部还可包括拇指致动器115,其目的在于在移液管的操纵中致动具有类似于人类拇指功能的拇指116。 Hand may further include a thumb actuator 115, it is an object manipulating the pipette actuating thumb in the thumb having a human-like features 116. 拇指的运动可以是围绕轴线的简单的局部旋转,但重要的是要注意,提高拇指动作的精度(例如在其速度、位置和相对于人类拇指的压力灵敏度方面)能够在移液管的操纵中引入各种改进:例如,通过旋钮117的行程经由快速的抽吸/分配顺序提高液体混合、通过可重复位置的位移或速度分布图提高分配精度、以及通过压力反馈机构提高对移液管停止的检测。 Thumb movement may be a simple partial rotation about an axis, it is important to note that, to improve the accuracy of the thumb operation (e.g. speed, position and relative to the pressure human thumb sensitivity) is capable of manipulating the pipette in various modifications introduced: for example, increased by the stroke of the knob 117 via rapid aspiration / dispensing liquid mixing sequence, FIG improved dispensing accuracy by position of the displacement or velocity distribution may be repeated, and by the pressure feedback mechanism to improve the stop of the pipette detection. 最后,拇指动作还取决于液体的性能,从而使移液管在具有粘性液体或异构样品的情况下工作在最佳状态下。 Finally, the operation also depends on the performance of the thumb of the liquid, so that the pipette in optimal state in the case of a viscous liquid or heterogeneous sample. 作为另一个实例,快速且可重复的拇指动作能够提高液体动态分配的性能和可靠性,该动作定义为分配液体而不与容器已含有的液体物理接触。 As another example, rapid and reproducible thumb operation performance and reliability can be improved dynamic allocation of the liquid, the liquid physically contacts the dispensing operation is defined as a liquid contained in the container has not. 这种可能性能够实现手动移液管操作所不可能实现的性能(大大节省时间和吸头的使用)。 This possibility enables manual pipette operation can not achieve the performance (saving time and suction head). 由于结合了多种分配和吸液方法,并且可以对任意液体进行单独校准(如下所述),这证明液体处理机器人在能力和质量上可以轻松胜过手动操作者。 Due to the combination of a variety of liquid-absorbent and distribution methods, and may be individually calibrated (as described below) for any liquid, which proves that the liquid handling capacity and quality of the robot in a manual operator can easily overcome.

[0072] 图6描述了液体处理机器人的第二实施例。 [0072] Figure 6 depicts a second embodiment of a liquid handling robot. 塑料封闭件601构成并包含主体,该主体设计作为安装在基板602上的竖直结构。 Plastic closure 601 configuration and comprises a body designed as a vertical structure 602 mounted on the substrate. 基板602具有给系统提供稳定性的用途,并且使系统独立于无论是由机器人本身或由外部因素诱发的支撑工作台的可能振动和晃动。 Substrate 602 having a purpose to provide stability to the system, and the system is independent of whether it is possible by the shaking and vibrations induced by the robot itself or the supporting table of external factors. 主体601还包括用于执行容积设定程序的旋转致动器603。 Body 601 further includes a rotary actuator 603 for performing the volume setting program. 旋转致动器受到摄像机604的辅助,该摄像机604能够利用内部照明器605对设置在移液管606上的数字计数器进行成像。 Rotary actuator by the auxiliary camera 604, the camera 604 can use the internal illumination settings 605 digital counters on the pipette 606 is imaged. 在本实施例中,主体601包含电子设备和机械结构:事实上,通过竖直提升肩部607的线性致动器(在本附图中不可见)来实现臂部的竖直运动,从而允许臂部所需的竖直行程。 In the present embodiment, the body 601 comprises a mechanical structure and an electronic device: in fact, through the shoulder 607 of the vertical lift linear actuator (not visible in this figure) to achieve vertical movement of the arm, allowing the required vertical travel of the arm. 这样的结果是,臂部的功能限于手部608在水平平面中进行位移,而在主体601内部实现竖直运动。 As a result, the arm is limited hand function unit 608 is displaced in the horizontal plane, the vertical movement is achieved in the interior of the body 601. 因此,不同于图1,臂部仅含有三个伺服电机609,该三个伺服电机609允许对预定区域进行完全覆盖。 Thus, unlike in FIG. 1, the arm 609 contains only three servomotors, the three servomotors 609 allows complete coverage of a predetermined area.

[0073] 图7示出了手部实施例的细节。 [0073] FIG. 7 shows a detail of an embodiment of the hand. 两个伺服电机701和702辅助手部操纵移液管,包括抓握、弹出吸头、以及致动移液管旋钮705以进行液体的抽吸和分配。 Two servo motors 701 and 702 manipulate the auxiliary hand pipette, comprising a grip, tip eject, and an actuator knob 705 of the pipette for aspirating and dispensing liquids. 伺服电机701具有将所需压力施加在移液管旋钮705上的双重功能,包括压力反馈的监控和旋钮位置的监控,以确定移液管的停止。 The servo motor 701 has a desired pressure is applied to the pipette double function on the knob 705, including monitoring the pressure feedback control and the position of the knob to determine a stop of the pipette. 该双重功能通过凸轮来实现,其中凸轮704总是与伺服电机701的轴一起移动,而凸轮712仅在有限的角度范围内由凸轮704致动。 This dual function is achieved by a cam, wherein the cam 704 is always moved together with the shaft of the servo motor 701, the cam 712 is actuated by the cam 704 only within a limited angular range. 凸轮704施加在凸轮712上的压力致动移液管上的按钮706,致使吸头709从移液管弹出。 Pressure exerted on the cam 704 of the cam actuator 712 shifts the pipette button 706, causing the tip 709 from the eject pipette. 由伺服电机702致动另一凸轮:凸轮703对在楔状物707上滑动的杠杆(未示出)进行致动,楔状物707在转动时推动夹具708抵靠在移液管主体上并且产生对移液管的抓握。 702 actuated by a servo motor other cam: 703 pairs of cam wedge slides on the lever 707 (not shown) is actuated, the clamp 708 push wedge 707 against the body and pipetted generated during rotation of the gripping pipette tube. 在移液管的另一侧上存有对称的机构,从而产生使移液管轴线与手部轴线对齐的对称夹持力。 There symmetrical bodies on the other side of the pipette, to produce a symmetrical clamping force to the pipette axis aligned with the axis of the hand portion.

[0074] 重要的是,手部承载摄像机711和关联光源710。 [0074] Importantly, the hand carrying a camera 711 and associated light source 710. 光的用途是在摄像机711的视场中施加均匀和恒定的照明,视场包括平台的鸟瞰、吸头709的成像以及在这种情况下的移液管末端713的成像。 The use of light is constant and uniform illumination is applied in the field of view of the camera 711, bird's-eye viewing platform comprising a suction head 709 and the image in this case the lapse imaging catheter tip 713. 视场范围内具有这些元件允许测量这些目标在摄像机图像内的相对位置。 The field of view with these elements allowed to measure the relative position them within the camera image. 事实上,透镜光学畸变的校正允许确定径向线(通过摄像机711的物镜),沿着该径向线物体位于视场中。 In fact, the optical lens distortion correction allows determining a radial line (through the objective lens of the camera 711), located in the field of view along a radial line of the object. 因此,目标的横向位置能够通过估计目标的竖直位置来重建。 Thus, the lateral position of the object can be reconstructed by estimating the vertical position of the object. 可以采用以下不同的方式估计元件(例如,吸头末端)的竖直位置:利用透镜的焦距、通过相同目标与参考的已知竖直位置的接触(通过竖直运动的压力反馈感知)、利用未连接至手部的目标的多个位移图像、利用两个安装在手部上的摄像机的立体成像、利用已知尺寸的二维条形码的外观尺寸的测量结果、以及其他方法。 The following estimation can be used in different ways elements (e.g., the tip end) in the vertical position: using the focal length of the lens, by contacting the same with the known vertical position of the target reference (by vertical movement of the pressure sensing feedback), by using is not connected to the target portion of the plurality of displacement hand images, stereoscopic imaging using two cameras mounted on the hand, the use of known size measurements of the apparent size of the two-dimensional barcode, and other methods.

[0075] 容积设定的详细描述 [0075] Detailed description of the volume setting

[0076] 图2描述了一个可能的实施例,该实施例描述了用于在可调移液管中确定预设容积的方法和设备。 [0076] Figure 2 depicts one possible embodiment, this embodiment describes a method and apparatus for determining the adjustable pipette preset volume. 在该附图中,摄像机203位于主体201的内部,在图1中已经描述了主体。 In the drawing, 203 is located inside the camera body 201, FIG. 1 has been described in the body. 摄像机定位成能够对指示移液管204的分配/吸液容积的移液管显示器215成像(该移液管显示器215在本图中不可见,因为它被移液管的主体覆盖了,但它例如在图3的位置313中表示出来了)。 A camera positioned to pipette a display capable of indicating the pipette dispensing 204 / pipetting volume 215 image (the pipette display 215 is not visible in this view because it is moved body pipette covers, but it for example, the position 313 shown in FIG. 3 out). 显然,为允许到达该位置,已经合理地设计了部分可见的臂部(致动器213和214)。 Obviously, to allow reaching this position, the rational design has been partially visible arm (actuator 213 and 214). 摄像机可以从前面对显示器成像,或从任何方向上和任何平面中的某个角度(例如,从顶部或从底部、从左边或从右边)对显示器成像。 An imaging camera from the front face of the monitor, or from any direction in a plane and at any angle (e.g., from the top or from the bottom, from the left or from the right) of the display image. 摄像机可由人工照明辅助,或来自于环境或来自于液体处理机器人所含有的光源、或来自于自然光源。 Camera assisted by artificial lighting, or from the environment or from the light source contained in the liquid handling robot, or from a natural source. 将显示器监控与调整移液管容积设定的能力结合起来非常有用。 The display monitor and the ability to adjust the volume setting of the pipette tube is useful to combine. 这由连接至旋钮绞扭器207的致动器206完成。 This is done by connecting the knob to the twister 207 actuator 206. 致动器可以通过其角度位置来设置,也可以通过其角速度来设置。 The actuator can be set by its angular position, which may be provided by the angular velocity. 旋钮绞扭器是一个元件,优选地为弹性材料,其设计成通过旋钮抵靠在绞扭器上的简单压力将扭矩施加到旋钮上,从而允许(像对大多数移液管类型所做的那样)进行所需的移液管调整。 Twister element is a knob, preferably an elastic material, which is designed to abut against the knob twister simple pressure on the torque applied to the knob, allowing (as do most of the pipette type so) required to adjust the pipette. 在一些实施例中,绞扭器可以是具有刻进其主体的凹面(截去顶端的)锥体的橡胶型圆柱体:锥体形状允许保形地调整到不同大小的移液管旋钮。 In some embodiments, the twister can be carved into a main body having a concave surface (the truncated) cone type cylindrical rubber: pyramidal shape allows conformally adjusted to various sizes of pipetting tube knob.

[0077] 吸头弹出的详细描述 [0077] Detailed Description of the tip ejector

[0078] 图3示出了一个可能的实施例,该实施例描述了用于吸头弹出动作的装置和方法。 [0078] FIG 3 illustrates a possible embodiment, this embodiment describes an apparatus and method for tip ejection operation. 显然,在液体处理机器人中,吸头插入到移液管上之后是吸头弹出。 Obviously, the liquid handling robot, after the tip is inserted into the tube is a pipette tip ejection. 然而,在大多数现有的移液管中,当移液管主体已经插入到吸头中时,仅通过施加一定压力来完成吸头插入。 However, in most conventional pipettes, the pipette when the body has been inserted into the suction head, the suction head is completed only by inserting exert a certain pressure. 很显然,这个操作在如图1所述的实施例中时可行的。 Obviously, this operation is possible in the embodiment in Figure 1. 关于吸头的弹出,可利用多种方案,该多个方案包括通过专用致动器致动弹出按钮的直接动作,该专用致动器最优选地位于液体机器人的手部中。 The pop-up on the tip, can be used a variety of programs, the program comprising a plurality of direct action by a dedicated actuator actuating the eject button, the hand actuation of the actuator dedicated most preferably located in the liquid of the robot. 然而,如图3所示,对于在图1中已经描述了的液体处理机器人实施例,有一种无需额外的致动器的经济型方案。 However, as shown in Figure 3, in FIG. 1 for the already described embodiment the liquid handling robot, there is a need for additional economic embodiment of the actuator. 臂部允许将具有如下构造的移液管303进行定位:即,移液管的弹出按钮305面向固定结构306,该固定结构306例如相对于主体结构301固定。 The arm having a configuration allows the pipette 303 is positioned: i.e., pipette eject button 305 for fixing structure 306, for example, the fixing structure 306 is fixed relative to the body structure 301. 弹出按钮305的致动由臂部本身所产生的力来实现,例如通过致动器309和致动器310的动作以使固定结构306和弹出按钮305中的一者推动另一者。 Actuation of the eject button 305 is achieved by the force generated by the arm itself, for example by actuation of the actuator 309 and the actuator 310 to the stationary structure 306 and the eject button 305 pushed in the other one. 这种方案可以节省至少一个致动器和减少手部的某种复杂性,从而产生一个更轻并且更可靠的方案。 Such a scheme may save at least some of the actuator and reducing the complexity of the hand, resulting in a lighter and more reliable solution. 适当选择固定结构306的形状以允许在不同的空间位置中弹出吸头,期望的是,避免吸头累积在如图1所示的废料托盘103的有限区域中。 Shape of the fixing structure 306 is appropriately selected to allow the pop-up tip in different spatial positions, it is desirable to avoid the accumulation of the suction head shown in Figure 1 in a limited area of ​​the waste tray 103.

[0079] 容积监控的详细描述 [0079] detailed description of the volume monitoring

[0080] 图4示出了实现容积监控和移液管操作的可追溯性的方法和设备的可能实施例。 [0080] FIG 4 illustrates an implementation of the volume control and traceability method and apparatus of the pipette operation possible embodiment. 四个图像对应于由先前所述液体处理机器人中的摄像机拍摄的四个不同的快照,该摄像机可以是图1中的摄像机123或摄像机102。 Four images corresponding to four different snapshot previously captured by the liquid handling robot camera, the camera 123 may be a camera or a video camera 102 in FIG. 为了简化描述,从正交于移液管轴线的位置拍摄图像:然而,这不是严格所需的并且大多数视角都是可以的。 To simplify the description, an image captured from a position perpendicular to the pipette axis: however, this is not strictly and most desired viewing angle are possible. 图像可以显现部分或全部的移液管主体402和吸头401。 The image may appear some or all of the body 402 and pipette tip 401. 如最左边的图像可见,空移液管的参考图像构成了参考,并且它还可以被临时存储或永久存储。 The leftmost image is visible, the empty pipette shifted reference images constituting the reference, and it may be permanently stored or temporarily stored. 应理解的是,该图像可以在臂部的参考位置处来拍摄,从而提供均匀和恒定的背景信息和照明。 It should be understood that the image may be captured at a reference position of the arm, thereby providing a constant and uniform illumination and background information.

[0081] 在从图4左边算起的第二图像中,描述了根据可调移液管的容积设置已经装入给定量液体的吸头。 [0081] In the second image from the left side in FIG. 4, there is described tip provided in accordance with an adjustable volume pipette shift has been charged with a given amount of liquid. 对于本领域的技术人员明显的是,对于给定的吸头,每个设置的容积与液体弯月面403的给定位置相对应。 Those skilled in the art is apparent that for a given tip, each provided with a liquid volume of the meniscus 403 at a given position corresponds. 因此,在这方面,弯月面的位置构成了指示移液管已经正确吸进所需量的液体的指示器。 Thus, in this respect, the position of the meniscus constituting an indication of the pipette has been correctly desired amount of liquid drawn into the indicator.

[0082] 相反,在分配操作之后,参考图像构成了逻辑参考,其中还可以以类似的方式检测存在的液滴或剩下的液体。 [0082] In contrast, after the dispensing operation, the reference image constituting a logical reference, which may also detect the remaining liquid droplets or present in a similar manner. 在从图4左边算起的第三图像中,示出了未正确发生吸液的不合理的情况。 In the third image counted from the left in FIG. 4, there is shown a liquid-absorbent unreasonable not occur correctly. 可以看出,移液管中已经引入了空气泡405,从而移液管中所含有的实际液体体积相对于所需容积产生改变。 As can be seen, the pipette 405 has been introduced air bubbles, thereby shifting the actual volume of the liquid contained in the pipette relative to the desired volume change is generated. 根据气泡的原点,弯月面404可能处于正确的位置处(根据从图4左边算起的第二图像所做的参考来限定的位置),因此这表明吸头中的实际液体体积低于预期液体体积。 The origin of the bubble, the meniscus 404 may be in the correct position (the second image according to the reference from the left side in FIG. 4 made to define the position), thus indicating that the actual volume of liquid in the tip of the lower than expected liquid volume. 液体的弯月面还可能在较高的水平上,例如表明在吸液之后已经形成了气泡,或者液体弯月面甚至还可以低于预期水平,这显示出在液体收集中存在严重的问题。 Liquid meniscus may also be at a high level, for example, it shows that the absorbent has been formed after a bubble or a liquid meniscus can even lower than expected, it shows a serious problem in the liquid collection. 在图4最右边的图像中示出了在实验室实践中发生的简单且实际的情况:移液管在抽吸液体时容器中缺乏液体、或吸头相对于液面的不正确的位置导致得益于移液管中所含的空气而抽吸部分液体。 In the rightmost image in FIG. 4 shows a simple and practical happens in laboratory practice: a pipette in the absence of the liquid container during pumping liquid, or the tip with respect to the liquid surface results in an incorrect position thanks to the pipette portion contained in the air sucked liquid. 弯月面405很可能在正确的位置;然而,在位置407处可以看到第二液体-空气界面。 The meniscus 405 is possible in the right position; however, at position 407 can see the second liquid - air interface. 用户可以利用所有这些不希望的情况,从而显著改善由测定所生成的数据的解释。 The user can use all these cases undesirable, to significantly improve interpretation of the data generated by the measurement. 在所有的情况中,图像包含有那些可能会在手动操作中损失的重要信息。 In all cases, the image may be lost include those in manual operation of important information. 这些有用的信息可以在线进行处理,为了试图重新获得这个过程,出于操作者监控和质量控制的目的,也可以脱机简单地存储这些有用的信息。 These useful information can be processed online, in an attempt to regain this process, the operator for the purpose of monitoring and quality control, but also offline simply store these useful information. 总体而言,类似的成像构造可以用于控制吸头在耗材中相对于液面的位置。 In general, a similar configuration may be used to control the imaging tip in position relative to the consumable liquid surface. 耗材的成像以及液面的识别可以确定液体和吸头之间的垂直距离,从而允许液体被精确地啜吸和分配。 Identifying the level and supplies imaging may determine the vertical distance between the tip and the liquid, allowing the liquid to be accurately and sipping distribution. 同样,相同的程序可以应用于吸液,特别是应用于液体处于垂直位置的情形,例如,在分离的血液对血浆/血清和红细胞之间的界面处的白细胞层进行抽吸的情况下。 Similarly, the same procedure may be applied to the absorbent, in particular in the case of a liquid applied to a vertical position, for example, the separation of blood leukocyte layer at the interface between the plasma / serum and erythrocyte case where suction.

[0083] 视觉辅助吸头定位的详细描述 [0083] Detailed description of the visual aid of the suction head positioning

[0084] 图5示出了一个可能的实施例,该实施例描述了用于实现吸头的视觉辅助定位的方法和装置。 [0084] FIG. 5 shows a possible embodiment, this embodiment describes a method and apparatus for implementing visual assisted positioning of the tip. 该图像对应于由摄像机拍摄的图像,该摄像机优选地连接至移液管的手部,例如图1所述的摄像机123。 This image corresponds to an image captured by a camera, the camera is preferably connected to a hand pipette, such as a camera 123 according to FIG. 如果摄像机连接至移液管的手部,那么对连接至图1中吸头120的移液管119进行抓握则将产生图5中可见的移液管吸头504的可重复且恒定的位置。 If the camera is connected to a hand pipette, then the connection to a tip 120 of the pipette 119 shifted for pipette head 504 may be repeated and constant position seen in Figure 5 will be produced gripping . 因此,这个信息已经构成了对于从手部恰当抓握移液管的重要控制。 Thus, this information has constituted an important control for a proper grip of the pipette from the hand portion. 应理解的是,不同的移液管和不同的吸头能够产生不同的图像和形状,所以吸头的成像还代表了一种用于确保不会发生错误识别的可能方法。 It should be understood that a different pipette tip and the different images and capable of producing different shape, the tip also represents an imaging method for ensuring a possible erroneous recognition does not occur. 此外,如在图5所示的情况下,该图像可以含有视场内的额外目标。 Further, as in the case shown in FIG. 5, the image may contain additional target field of view. 在本领域中众所周知的是,根据所利用的光学器件和传感器的类型以及它们与摄像机的明显距离,任何目标可以是清晰的,也可以是模糊的。 Well known in the art, according to the type utilized apparent from the optics and sensor and their camera, the target can be any clear, it may be blurred. 臂部的能力是这样的:可以在所需的高度处操作臂部,这当然意味着在耗材和吸头之间的距离将设置为所需的值。 The ability of the arm is such that: the arm can be operated at a desired height, which of course means that the distance between the tip and the consumable will be set to the desired value. 在此条件下,能够根据如下方法识别吸头504相对于所需的孔位置507横向对齐:吸头503的轴线504在延长时将识别吸头进行竖直运动的轨迹(在实例中,吸头是竖直的,因为它通常应该是这样的)。 Under this condition, it is possible to identify a method in accordance with the tip 504 relative to the hole 507 transversely aligned with the desired position: the tip axis 504 to identify 503 the tip when extending the vertical movement locus (in the example, the tip vertical, because usually it should be like this). 然而,吸头相对于耗材的给定且特有的距离将限定在图像中的单个点处,当吸头定位在所识别孔的相同高度时,吸头将相交于该点。 However, with respect to the tip, and supplies a given distance will be defined at a unique single point in the image, when the suction head is positioned at the same height of the identified hole, the tip will intersect at a point. 因此,可以通过以下方式实现吸头的相对水平对齐:通过在视场内对相同吸头进行成像,并且在成像平面中施加偏移(该点应当直接定位在所需目的地上),以及通过在不改变吸头与耗材的距离的情况下对臂部施加横向运动。 Thus, it can be achieved by a relative horizontal alignment of the suction head: by imaging the same field of view in the tip, and applying an offset in the image plane (this point should be positioned directly on the desired destination), and by It is applied to the lateral movement of the arm without changing the distance from the tip of the consumable. 应当注意的是,该方法还可用于存在光学畸变的情况,该光学畸变可以通过视觉分析的方法来全面纠正或通过经验对齐来纠正。 It should be noted that the present method can also be used where the optical distortion, the distortion can be optically corrected or corrected by fully empirical visual alignment by the method of analysis.

[0085] 在另一个实施例中,例如可在图7中所看到的,摄像机可以在吸头接近液体表面时对吸头进行成像。 [0085] In embodiment, for example, as seen in FIG. 7 in another embodiment, a camera can image tip when the tip close to the liquid surface. 相对于吸头远离液体的图像,吸头与液体接触的图像将改变吸头的图像,因此,例如出于在液体表面附近抽吸液体或分配液体的目的,可以使用这样的改变来识别吸头与液体表面相接触的位置。 Liquid away from the tip with respect to an image, the image of the tip in contact with the liquid to change the image of the tip, thus, for example, for the purpose of dispensing a liquid or aspiration of liquid in the vicinity of the liquid surface, such changes can be used to identify the tip in contact with the liquid surface position.

[0086] 可以通过对吸头或液体的合适照明来提高图像中的差异:只要吸头和液体相接触,吸头聚合物的折射率和液体的折射率就类似,因此,在沿材料表面的内反射的引导下,光线将形成通道而通过其他介质。 [0086] or by the tip of a liquid suitable to increase the difference in illumination of the image: as long as the contact tip and a liquid, the nozzle and the liquid refractive index polymer on a similar, therefore, along the surface of the material under the guidance of internal reflection, the light path is formed through the other medium. 可以很容易地识别出照明构造中的变化并且实现吸头-液体接触的检测。 It can be easily identified in the change of lighting configuration and achieves the tip - detection of the liquid contact. 可以通过发光二极管或激光或在光的导向器(例如,光纤)的引导下实现特别适合于内反射利用的照明条件。 Can guide a light emitting diode or a laser or light (e.g., optical fibers) for guiding a particularly suitable lighting conditions utilized in reflection.

[0087] 多米诺平台的详细描述 [0087] Detailed Description Domino platform

[0088] 图8示出了一个平台构造的可能实施例。 [0088] FIG. 8 shows a possible embodiment of a platform configuration. 不同于图1所述的平台,通过称为块的托架以几何方式组织耗材,该块定义为能够保持一个或多个耗材的、可重复使用或不可重复使用的支架。 The platform differs from FIG. 1, referred to by the carriage block supplies organized geometrically, the block is defined as capable of holding a plurality of consumables or, reusable or non-reusable holder. 块的特征是能够将它们组装成称为嵌合体的更大结构,其中嵌合体是根据一些具有某种预定义灵活性的预定义规则而组织成的块的平面组合体。 Block feature is the ability to assemble them into larger structures called chimera, where the chimera according to some predefined rules having a certain predefined flexibility and organized into blocks of the assembly plane. 在图8中,不同类型的块组装在一起:例如,块801是用于收集用过的吸头,块802设计用来包含和支撑不同类型的微管,块803用来保持和支撑吸头架,块804用来支撑采血管和诸如15mL、50mL等更大的管,以及块805包含微孔板。 In Figure 8, the different types of blocks are assembled together: e.g., block 801 for collection of used tips, block 802 is designed to contain and support different types of microtubules, and the support block 803 for holding the suction head frame, for supporting the block 804 and the blood collection tube, such as 15mL, 50mL larger tube, etc., and block 805 comprises a microplate. 这些块没有详尽地涵盖所有的可能性。 These blocks do not exhaustively cover all possibilities. 例如,块可以设计成同时承载如下物品:预加载的试剂、像吸头等特定的耗材、用于处理信息的条形码、管以及用于允许用户提供他们自己的样品的空耗材。 For example, the block may be designed to simultaneously carry the following items: a reagent pre-loaded, like the top suction specific supplies for barcode processing information, and a pipe for allowing a user to provide their own sample of air supplies. 在该最后的构造中,能够将一个多米诺块设想为不需要外部块的单一单元,其中外部块用于将多米诺平台处理制造成不彼此依靠的独立实验的集合。 In this last configuration, a domino blocks can be envisaged as a single unit does not require an external block, wherein the external block is used to set the processing platform manufactured domino independent experiments not rely on each other. 重要的是,多米诺块可以通过NFC、RFIDs、线性条形码、光学识别标记以及如806所示的二维码等信息来进行补充。 Importantly, the domino block may be supplemented by information NFC, RFIDs, linear barcodes, optical mark recognition, and the like two-dimensional code 806 as shown. 例如,通过图7所述的摄像机711来提供额外信息,提供额外信息的目的是使系统能够轻松对块进行有效和非接触式的识别。 For example, to provide additional information through the camera 711 according to FIG. 7, the purpose is to provide additional information to make the system easily and effectively blocks non-contact identification. 提取多米诺块信息的其他方式是通过定位在它们侧面并与相邻块接触的电触头,以及通过电网络传播到其他块。 Otherwise domino block information extracted by the side surface thereof and positioned in contact with the electrical contacts of adjacent blocks, and spread through the electrical network to other blocks. 多米诺平台的一个重要特征在于在能够组织和规定块的组装的同时能够使它的构造适应于用户的需求。 An important feature is that while the domino platform capable of organizing and assembling it to a predetermined block structure can be adapted to the needs of users. 事实上,多米诺块可以在其两侧上存有键,例如机械键或磁性键,从而避免用户不正确地组装多米诺块,并且利用将组件保持在一起的一些力来验证所选择的构造。 In fact, there may be key domino blocks on both sides, such as mechanical or magnetic key button, preventing the user from incorrectly assembled domino blocks, and the use of some force to hold the assembly together to verify the configuration selected. 键的一个实施例是机械构造,类似于在用于教育和游戏目的的LEGO玩具中实施的机械构造。 A key embodiment is a mechanical structure, similar to the embodiment of the mechanical configuration LEGO toys and games for educational purposes. 另一个机构包括特定的磁性构造:例如,沿着设计成在“向下”的方向上定向的侧面,该侧面能够承载具有合适磁性构造的多块磁铁。 Another mechanism comprises a specific magnetic configuration: for example, designed to be along the "down" direction oriented side, the side surface can carry a plurality of magnets having a suitable magnetic configuration. 作为吸引力的结果,构造SNS(南-北-南)中的磁极可以与具有NSN(北-南-北)的侧面中的磁极相匹配,而侧面NSN将推离侧面NSN(类似于将SNS侧面推靠在SNS侧面时的排斥力)。 As a result of attraction, configured SNS (south - north - south) pole in the side surface may have a NSN (North - - north-south) magnetic poles in the match, while the side away from the side surface of the push NSN NSN (SNS analogous to when pushed against the repulsive force of the side surface side SNS). 磁性构造的优点在于:验证所允许构造的吸引力,而排斥力将避免在错误的定向上组装块。 Advantage is that the magnetic configuration: structure validation allowed attraction, repulsion and will avoid the wrong orientation on assembly blocks. 这些磁力通过连接外部的参考结构还能够改善多米诺平台的整体组织。 The magnetic structure by connecting an external reference can also improve the overall organization of the domino platform. 例如,在图8中,块807通过将SNS磁性构造与嵌入侧面809上的磁铁产生的NSN磁性构造相面对磁力地连接在机器人主体下方的基部上。 For example, in FIG. 8, blocks 807 configured by magnetic SNS embedded magnet 809 produced on the side facing the magnetic configuration NSN magnetically connected to the underlying base of the robot body. 同样,块808通过将SNS磁性构造与侧面810上的NSN磁性构造相面对磁力地连接在机器人基部的侧面810上的磁铁位置上。 Similarly, block 808 by the magnetic structure and SNS NSN magnetic structure on the side 810 facing magnetically connected to the side of the base 810 of the robot on the position of the magnet. 在该实例中,避免块旋转90度的是磁体之间的不同间距,相对于侧面809,磁体在侧面810上更短。 In this example, to avoid the block is rotated by 90 degrees different from the spacing between the magnets, with respect to the side surface 809, the magnet 810 is shorter on the side. 出于相同的原因,多米诺平台中的块不能旋转180度或90度。 For the same reason, the domino block platform can not be rotated 180 degrees or 90 degrees.

[0089] 多米诺平台的一个重要优点在于:实验台的最优占用空间位于机器人主体的外部。 [0089] An important advantage is that the domino platform: the optimal experimental space station is located outside the main body of the robot. 事实上,与当今液体处理器的构造(其占用的工作台空间与所涉及实验的复杂性无关)相反,系统所占用的空间限于给定实验所需的空间。 Indeed, with today's liquid handler configured (which occupy bench space and complexity involved in independent experiments) In contrast, the space occupied by the system is limited to the space required for a given experiment. 另外,当不使用系统时,允许所占用的工作台空间最小化,例如,通过在其他地方存储多米诺块,或通过将它们组装成竖直堆,从而只占用单一多米诺块的覆盖区。 Further, when not using the system, to allow the space occupied by the table is minimized, e.g., by domino blocks stored elsewhere, or by assembling them in a vertical stack, so as to occupy only the coverage area of ​​a single domino block. 在一般情况下,用户可以根据用户的典型实验通过改变不同类型的块的量(该量是所需的并且不使用不必要的块)来利用不同的多米诺块。 In general, a typical user can experiment by varying the amount of user blocks of different types (the amount required to block unnecessary and not used) by using different domino blocks.

[0090] 臂部空间定位的详细描述 [0090] Detailed description of the spatial location of the arm

[0091] 虽然用于定位的许多程序和方法对于本领域技术人员是已知的(包括精密机械和XYZ直角坐标系机器人的编码器和解码器的使用),但是我们描述了一种利用安装在移动臂上的简单摄像机的特别适用于耗材的识别和定位的方法。 [0091] Although many methods and procedures for positioning of ordinary skill in the art are known (including the use of an encoder and decoder and precision machinery XYZ orthogonal coordinate system of the robot), but we describe a method of using mounted particularly suitable for identifying and locating the camera supplies a simple arm movement. 在此所描述的摄像机和臂部的几何形状如图6所示,臂部609利用图7所示的夹具708连同摄像机711和相关的照明器710保持移液管608。 Arm and camera geometry described herein shown in FIG. 6, the clamp arm 609 as shown in FIGS. 7 708 711 in conjunction with the camera 710 and associated luminaire 608 holding the pipette. 图9表示摄像机711在某个块上方移动时拍摄的可能图像,出于在一个给定位置(例如,孔910)中吸液的目的,将精确地存取该图像。 9 shows a possible image captured by the camera 711 is moved over a block, for the purpose of absorbing the liquid, the image will accurately access a given location (e.g., aperture 910). 应当注意的是,提取移液管轴线在三维空间中相对于所需的移液位置的相对位置至关重要。 It should be noted that the extraction pipette axis position in three dimensional space relative critical pipetting desired position with respect to 已知移液管吸头的长度(例如,利用移液管的模型或利用包括与移液管吸头接触的感测在内的其他技术,利用图6摄像机604的立体成像、外部测量,以及其他方法),以及基于移液管吸头在摄像机视场内可见的事实(如在图7中,摄像机711通过使用合适的物镜,能够观看到移液管709),显然,一旦已知移液管吸头末端所在平面的换算比例,就可以在图像传感器的空间坐标(像素)中计算出移液管吸头末端相对于摄像机轴线的横向位置并且能够转换成真实空间的横向位移。 Known pipette tip length of the tube (e.g., using a pipette to shift the model or using other techniques include sensing pipette tip contacts the inner, using stereoscopic imaging camera 604 in FIG. 6, the external measurement, and other methods), and based on the fact that a pipette tip is visible in the camera field of view (as in FIG. 7, the camera 711 by using a suitable objective lens, can be viewed pipette 709) obviously, once known pipetting the tip end of the tube where the scalings plane can be calculated lateral displacement pipette tip with respect to the first axis and the transverse position of the camera can be converted into real space coordinates in space (pixels) of the image sensor. 可以以多种方式实现换算比例,该多种方式包括在相同平面中已知尺寸的二维码的使用。 The scaling may be achieved in various ways, including the use of a variety of ways known dimensions in the same plane two-dimensional code. 然而,图9示出了知道移液管吸头末端相对于摄像机的相对位置只是针对解决移液管吸头末端在孔910中定位这个问题的部分方案,因为还需要使位于给定偏移量(在真实空间中)的摄像机轴线(由交叉阴影线901示出)相对于耗材902进行移动。 However, FIG. 9 shows a pipette head to know the relative position of the end of the camera head only pipette tip positioning portion for this problem in the hole 910, as is also a need for a shift amount at a given solution axis of the camera (in the real space) of the (901 illustrated by cross-hatching) is moved with respect to consumables 902. 下面的方法示出了这样一个程序:该程序具有快速有力且能够补偿任何偏移并能局部调整每个单独块或小区域平台的优点。 The following illustrates such a method of procedure: This procedure is fast and powerful and can be capable of compensating for any offset the advantages of each individual partial adjustment blocks or small region of the platform. 事实上,块911具有不同的特征。 In fact, the block 911 having different characteristics. 一个特征是提供有镜子903、904、905、906,这些镜子设置在与水平平面成45度角的平面上,并且从微孔板的侧面在向上的方向上反射图像。 One feature is to provide a mirror 903,904,905,906, these mirrors disposed in a plane 45 degrees to the horizontal plane, and the image reflected from the side of the microplate in an upward direction. 这些镜子允许对放置在微孔板竖直侧面上的任何用户标记条形码进行光学检测,该检测可以由摄像机711与应用有条形码的侧面无关地轻松地测量,并且如果用户条形码必须处于微孔板的给定侧上,则摄像机711还会潜在地检测任何微孔板的旋转。 The mirrors allow any user to mark a bar code placed on the vertical sides of the microplate optical detection, the detection can be by the side of the camera 711 and the barcode application easily measured independently, and if the user of the bar code must be in a microplate on a given side, the camera 711 could also potentially detect any rotation of the microplate. 可以利用相同的条形码识别能力来检测应用在块911中的其他条形码(例如,在位置909和908中的条形码)。 You may utilize the same barcode recognition capabilities to detect other barcodes (e.g., at positions 909 and bar code 908) Applications in block 911. 应当强调的是,出于增加系统的稳健性或增加摄像机将要读取的信息量的目的,对两个条形码的选择可以降低到选择单一条形码并且也可以扩展到多个条形码。 It should be emphasized that, for increasing the robustness of the system or increase the amount of information to be read camera purposes, the choice of two bar code can be reduced to select a single bar code and can be extended to multiple barcodes. 安装在块911中的二维码定位在大约与孔高度相同的位置处,或定位在竖直平面中已知偏移量的位置处。 Two-dimensional code in a block 911 mounted in holes located at approximately the same height position, a position or location at a known offset in a vertical plane. 条形码(例如,QR条形码)的读取还给用户提供了关于它的外观尺寸的信息,该外观尺寸是由摄像机在其空间中测量的尺寸(通常,沿传感器尺寸的方向以像素的形式测量)。 Bar code (e.g., the QR barcode) to read back to the user provides information about the size of its appearance, the apparent size is measured by the camera in its spatial dimensions (typically, a direction sensor size is measured in the form of pixels) . 因此,具有已知尺寸的条形码,或具有记录在条形码本身内容中的尺寸的条形码,允许定义空间换算比例,以对相同平面中由摄像机测量的任何距离转换成真实尺寸。 Thus, the known dimensions of the barcode, a barcode or the barcode itself, the size of the recording content, and allows to define a space in terms of the ratio to convert any distance from the camera to the real size measured in the same plane. 可选择地,如果条形码的尺寸未知,那么位于已知距离的两个条形码可以用于相同目的,例如通过掌握条形码908和条形码909之间的距离。 Alternatively, if the size of the bar code is unknown, then at a known distance from the two bar codes may be used for the same purpose, e.g., by a bar code 908 and control the distance between the bar code 909. 的确,对于具有未知像素形状的摄像机的情况,则不得不使用关于条形码角度的信息来提取合适的换算比例(其在图像传感器的两个方向上不同)。 Indeed, in the case of a camera having a pixel shape is unknown, it had to use the information on the barcode to extract the proper angle conversion ratio (which differ in the two directions of the image sensor). 总之,测量单一二维码的尺寸和角度允许测量在相同平面中的或其临近平面中的条形码的距离。 In short, a single two-dimensional code size measuring and angle measuring barcode allowable distance in the same plane, or adjacent plane. 然而,一旦因为目标失真对摄像机图像进行纠正,则对于给定的摄像机和目标,换算比例就可以根据简单的投影规定随着距离的变化而变化。 However, once because the target camera image distortion correction, then for a given camera and objectives, in terms of the ratio can change with distance varies depending on the simple projection requirements. 所以,通过已知步骤(例如,知道齿轮系数和马达竖直移动臂部的步骤)竖直移动摄像机所进行的竖直扫描允许利用内插和外推算法构建曲线,该曲线自动给用户提供对于给定摄像机和自条形码本身的目标之间的垂直距离。 Therefore, by known steps (e.g., steps known coefficients and the motor gear vertically movable arm) vertically moving the vertical scanning performed by the camera allows the construction of curve interpolation and extrapolation using the method, which automatically provides the user with respect to the curve given the camera and the vertical distance between the bar code from the target itself. 最终,可以以相反的方式使用相同的曲线来提取摄像机和条形码之间的实际距离,并且知道移液管吸头末端相对于摄像机的偏移量:这种逆解法可以解决移液管吸头末端相对于孔910竖直定位的问题。 Finally, in a reverse manner you can use the same curve to extract the actual distance between the camera and a bar code, and knows the end of the pipette tip with respect to the camera offset: This solution can solve the inverse pipette tip head problems with respect to the vertical positioning hole 910.

[0092] 同样,可以通过掌握在由箭头912和907所述的坐标系中孔910相对于条形码909的横向偏移量来计算摄像机轴线910相对于孔910的横向偏移量。 [0092] Similarly, by the control system by the coordinates and the arrow 912 907 910 with respect to the hole barcode lateral offset axis 909 of the camera 910 is calculated relative to the transverse bore 910 of the offset. 这个偏移量对于每个模块都是特定的,并且能以适当的方式外部地或内部地存储到模块(例如,通过条形码数据内部的数据库,或通过RFID或NFC标签)中。 This offset is specific for each module, and can be stored internally or externally to the module (e.g., the bar code data through the internal database, or by a RFID or NFC tag) in an appropriate manner. 为了实现臂部相对定位的目标,应当注意的是,通过对条形码角度、及其在传感器图像中的位置和先前所述的空间换算比例的测量,将摄像机轴线901定位在坐标系912和907中,其中摄像机坐标系和块的实际空间坐标系之间的转换变成由单一图像唯一识别。 To achieve the goals of the arm relative positioning, it should be noted that by the barcode angle, its position in the image sensor and the previously measured in terms of the proportion of the space, the axis of the camera coordinate system 901 is positioned at 912 and 907 wherein the conversion between the real space coordinate system and the camera coordinate system into the block is uniquely identified by a single image. 因此,把所有要素合在一起,通过安装在自动臂上的摄像机、使用由条形码提供的信息,本方法允许对移液管相对于给定耗材中的位置精确地相对定位。 Thus, all the elements together, by a camera mounted on the arm automatically, using the information provided by the bar code, the method allows the positions of consumable pipette with respect to a given precise relative positioning.

[0093] 事实上,还可以使用本方法来精确地确定将图6的伺服电机609的角度转化成一个块内的相对坐标的参数。 [0093] In fact, the present method can also be used to accurately determine the servomotor 609 of FIG. 6 is converted into an angle parameter relative coordinates within a block. 在存在有臂部扭曲、弯曲、角度测定的缺陷、臂部的大小和尺寸不准确、组装误差的情况下,这种方法具有精确提高机械精度的优点,并且通常能提高再现性。 In the presence of the arm twisting, bending, the angle of the defect measured, the size and dimensions of the arm is not accurate, the case of an assembly error, this method has the advantage of improved precision mechanical accuracy, and generally to improve reproducibility. 总之,伺服电机角度的非线性的、不可逆的转化成真实空间中的摄像机位置取决于大量的外部参数,但这些外部参数是遵循基本三角法则的已知解析函数。 In short, the angle of the non-linear servo motor, irreversibly transformed into real space camera position depends on a large number of external parameters, but these external parameters are known to follow basic trigonometry analytic functions. 然而,当局部计算时,这些参数中的许多参数会更加准确,例如,臂部的弯曲可以随着臂部构造(例如,臂部延长)的函数的变化而变化。 However, when the local computation of these parameters will be more accurate number of parameters, e.g., the curved arm portions may vary as a function of the arm construction (e.g., extension of the arm) is changed. 在此所公开的方法是基于块911的多个图像(类似于图9的图像),其中这些图像移动了对于任何电机的已知的、局部的角度量,本方法允许创建一个在摄像机图像内测量的条形码的位置和角度的图像数据集。 In the method disclosed herein is based on a plurality of image blocks 911 (similar to the image of FIG. 9), wherein the moving images of the local angle of the motor for any amount known, the present method allows to create an image in the camera measuring the position and angle of the bar code image data set. 对于单一图像,使用之前所解释的参数,通过最小二乘法最小化算法,可以使在条形码坐标系912和907中的摄像机的理论位置和实际距离之间的距离最小化,因此,能够创建及在之后使用最优的局部转换。 For the parameters before a single image, using the explained by least squares minimization algorithm can make the distance between the theoretical position of the bar code 912 and the coordinate system of the camera 907 and the actual distance is minimized, it is possible to create and in after using the best local conversion. 这个程序可以在臂部操作期间例如由理论位置和实际位置之间的较大差异被触发而随着时间快速地进行重复,以使系统保持高度的可重复性。 This program can be triggered, for example, by a large difference between the theoretical and actual position of the arm during operation is repeated over time, quickly, to enable the system to maintain a high degree of repeatability. 图11示出了残差的实例,该残差可以通过单独改变图6所示的三个伺服电机609的角位置来获得,以获得一定数量的角设置(如图标所示,每个交叉线对应于一个单独电机的角度的修正)。 FIG 11 shows an example of residuals, the residuals by changing the angular position of FIG three separate servo motors 609 of FIG. 6 is obtained, in order to obtain a certain number of angles provided (as shown icons, each crosshair correction angle corresponding to a single machine). 图中的箭头表示残差,其定义为在已经应用先前提到的最小化程序之后,预期位置与摄像机测量的实际位置之间的偏差。 Arrow in the figure represents the residual, which is defined as the application after having minimized the previously mentioned program, the deviation between expected and actual position measured by the camera. 箭头(放大了5倍,以使它们在图中可见)的大小表示系统定位中的误差。 Arrow (magnified 5 times, to make them visible in the figure) represents the magnitude of error in the positioning system. 在此所述的方法可以将系统空间精度提高6倍,从而使平均残差从6mm (主要由机械系统和电子设备的精度决定)降低到小于1mm。 In this method the spatial accuracy of the system may be increased by 6 times so that the average of the residuals from 6mm (mainly mechanical precision determined by the electronic devices and systems) to less than 1mm.

[0094] 吸头识别和定位的详细描述 [0094] Detailed description of the identification and location of the tip

[0095] 液体处理仪器的特定问题是需要识别、定位、计算和处置称为吸头的液体处理耗材。 [0095] The specific problem is the need for liquid handling equipment to identify, locate, and calculates the tip disposal called liquid handling supplies. 许多不同类型的吸头以及典型的液体处理操作意味着在每个液体分配步骤之后对吸头进行废弃,以避免进一步污染。 Many different types of tips and liquid handling procedures typically implies tip discarded after each liquid dispensing step, in order to prevent further contamination. 无论是手动操作还是自动化系统进行的液体处理,即使是对于相对简单的方案,其结果都是相当复杂的后勤。 Whether manual or automated liquid handling system, even for relatively simple solution, the result is quite complex logistics. 特别是,在实际进行操作之前,在一些规定中,移液管吸头在消毒和污染方面还具有严格的要求,结果是典型的实验室具有非常复杂的吸头管理后勤,这是由多种吸头类型、每个吸头对于每个设备和制造商的兼容性、以及与吸头相关的规格和包装的兼容性引起的。 In particular, before the actual operation, in a predetermined number, the pipette head having a further sterilization and contamination stringent requirements, the result is typical laboratory has a very complicated logistical management of the tip, which is a combination of type tips, tips for each device and each manufacturer compatibility, and related specifications and compatibility of the suction head due to packaging. 实质上,所有的仪器制造商给用户提供他们自己的吸头架(吸头架是将吸头组织在规则矩阵中的结构的统称),并且尝试提供可能的最大范围选择,以允许在任何仪器上进行任何操作。 Virtually all equipment manufacturers to provide users with their own tip rack (tip rack structure is collectively tip organizations in the rule matrix), and try to provide the greatest possible range of options to allow any instrument on anything. 因此,吸头供应对于用户和仪器供应商来说变成了昂贵的活动。 Therefore, a pipette tip supplying apparatus for users and suppliers become expensive activity.

[0096] 在本文中,我们描述了一种新颖方案,该方案允许我们的机器人使用任何已经在实验室中使用的吸头。 [0096] In this article, we describe a novel scheme that allows us to use any robot tips have been used in the laboratory. 该方案完全独立于吸头架,例如含有吸头的托架。 The program is completely independent of the tip rack, the bracket comprising for example suction head. 该方案还允许唯一地识别吸头,并且还允许知道吸头架中哪些吸头是可用的而不存在使用未使用的且新的吸头架启动操作的需求(即,大多数仪器所要求的需求)。 The program also allows to uniquely identify the tip, and also allows to know the tip rack which tips are available without the need to use a new unused tip rack and start operation (i.e., most instruments required demand). 以此方式,客户可以实现显著的经济性,同时还能在使用机器人的高质量耗材中获得最大的灵活性。 In this way, customers can achieve significant economy, while maximum flexibility in the use of robots in high-quality supplies.

[0097] 该方案在于利用俯视视觉来识别和定位吸头,例如通过图7的摄像机711来实现吸头的识别和定位。 [0097] The plan is to use the program to visually identify and locate the tip, for example, be implemented to identify and locate the suction head by the camera 711 of Fig. 任何吸头架都可以像图11所示的吸头架那样定位在多米诺块中,该多米诺块实质上是能够承载绝大多数市面上销售的吸头架的简单盒子(可能具有防滑垫表面,以避免吸头架本身随着时间推移而进行所不希望的运动)。 Any tip rack can be positioned like a tip rack as shown in FIG domino block 11, the domino block is substantially capable of carrying a simple majority of the box on the market a tip rack (possibly with a non-slip surface of the pad, to avoid tip rack itself over time for the unwanted movement). 购买将吸头耗材组织在微孔板槽的相同几何构造中的吸头架很常见,例如隔开9_的12X8吸头的矩形阵列。 The purchase consumable tip tissue tip rack in the same geometrical configuration of the microplate chamber is common, for example, a rectangular array of spaced 12X8 9_ of the suction head. 采用这样的构造,以便在我们需要处理如下各个方面时能够有效地使用吸头:吸头类型的识别、可用吸头的识别、与移液管末端接触的吸头上部的高度的确定。 With such a configuration, so that the tip can be effectively used when we need to deal with various aspects of the following: identification of the type of the tip, the tip can be used to identify and determine the height of the head portion of the suction pipette tip in contact. 即使这些操作可以通过直接的图像处理(例如,用于识别形状和结构的基于视觉的算法)来进行,但是难以足够强大到能够对未知假定的数百个不同的构造和设计进行处理。 (E.g., based on an algorithm for visually recognize the shape and structure) even though these operations may be performed by direct image processing, it is difficult to sufficiently strong enough to assume the unknown hundreds of different configurations and design process.

[0098] 我们基于视觉的方案在于将两个按钮1101和1102插入到吸头架中。 [0098] We characterized the two buttons 1101 and 1102 is inserted into the tip rack in vision based solutions. 这两个按钮可以由用户在执行实验之前插入,也可以在对吸头进行高压灭菌以便进一步再使用之前插入,或在制造时插入。 These buttons before insertion experiment performed by the user, may be the tip of the insert before autoclaving for further re-use, or insertion during manufacture. 可以以不同的方式制造这两个按钮:作为将插入到对应类型吸头中的简单软木,或作为类似于吸头上部并具有大约相同外径的钝态短柱。 Two buttons may be manufactured in different ways: as a passivation studs to be inserted into a corresponding type tip in a simple cork, or similar as a suction head portion and have approximately the same outer diameter. 按钮的顶部处需要条形码或类似的光学标记,该条形码是通过安装在臂部上的俯视摄像机来进行识别和定位的简单而稳健的方案。 Button at the top of a bar code or the like requires optical marking, the bar code is used to identify and locate a simple and robust solution by a camera mounted on a top arm. 使用二维码的优点在于具有以下事实:它们会自动提供用于抓握吸头的精确竖直位置,并且还会提供正确的横向比例用于识别图像中的转换比例,从而允许重建空间尺寸。 The advantage of using two-dimensional code has the fact that: they will automatically provide the exact vertical position of the suction head for gripping, and also provide the correct ratio for the conversion ratio to identify lateral image, thereby allowing reconstruction of the spatial dimensions. 空间坐标需要用于以下两个方面:一是指导臂部的运动以便抓握吸头,二是计算和确定可用吸头的数量以及它们的定位。 Spatial coordinates required for the following two aspects: First, in order to guide the movement of the gripping tip of the arm, and the second is calculated to determine the number of available suction head, and positioning thereof. 事实上,将会使用条形码1101和1102来限定吸头架的存有吸头的区域。 In fact, the use of bar codes 1101 and 1102 will be defined in the tip rack suction head region there. 在图11的实例中,位于由作为拐角的两个按钮限定的矩阵中的所有34个吸头会变成臂部拾取吸头的区域,该区域在图中用虚线矩形周界1103突出显示。 In the example of FIG. 11, all located at the tip 34 as defined by two corners buttons matrix becomes pickup arm tip region, the dashed rectangular perimeter region 1103 is highlighted in the figure. 对于本领域任何技术人员明显的是,选择合适的拐角则允许选择待使用的吸头架区域,并允许对可用吸头的数量进行计数(通过吸头之间的已知间距)。 For anyone skilled in the art obvious that the choice allows to select the right corner region tip rack to be used, and allows the number of available suction head counted (by the known spacing between the suction head). 同样,条形码的内容会给系统提供关于寄存在特定架子中的吸头的类型的信息。 Likewise, barcode system would provide information on the content registered in the specific types of the shelves of the suction head. 在此利用两个条形码所描述的方法可以很容易地扩展到多个条形码和用于表示架子的用于吸头取出的可用部分的不同方法。 In this bar code using the two methods described can be readily extended to a plurality of different bar codes and the available methods for the shelf portions removed for indicating tip. 因此,这种方法提供了在大致通用的吸头架中定位、识别以及计算吸头的方式,相同的原理还可用于部分信息的提取,例如与吸头识别方法相结合来发现吸头格式中的可能的孔(作为假设,在位置1104上缺少吸头)。 Thus, this method provides a substantially universal positioning tip rack, the identification and calculated as the suction head, the same principle can also be used to extract part of the information, for example, in combination with the nozzle tip to find recognition format possible holes (as assumed, the tip is missing at position 1104).

[0099] 应当注意的是,相同的方法可以应用于不同类型的耗材,这意味着拾取操作具有同等优点:例如,在相同方法论的条件下,可以考虑使用用于液体处理目的的针。 [0099] It should be noted that the same method can be applied to different types of supplies, which means that the pickup operation has the same advantages: for example, at the same methodology, consider using the needle for liquid handling purposes.

[0100] 软件界面的详细描述 [0100] Detailed description of the software interface

[0101] 软件界面(其为通称)构成了液体处理机器人的重要元件,该软件界面通常包括:软件包,该软件包用于与摄像机、致动器以及电子设备进行通信、用于控制和同步摄像机、致动器以及电子设备的操作、用于处理将发送和收集的信息、特别是用于与用户和外部信息源(例如,网站和服务器)进行交互。 [0101] The software interface (which is known) constitutes an important element of the liquid handling robot, typically the software interface comprising: a package, the package for communicating with a camera, an actuator and an electronic device for control and synchronization the camera is operated actuator and an electronic device for processing and transmitting the collected information, in particular for interacting with the user and external information sources (e.g., websites and servers). 与用户的交互包括:在系统的可编程性方面,以及提供涉及液体处理过程的反馈方面,包括它的执行性能、故障、检查点。 Interaction with a user comprising: programmability in the system, as well as providing feedback relates to liquid treatment process, including its execution performance, fault, checkpoint. 在一个可能的实施例中,通过USB控制液体处理机器人的摄像机和致动器,并且将USB集线器定位在主体的内部。 In one possible embodiment, a USB camera, and an actuator controlling liquid handling robot, and the USB hub is positioned inside the main body. 在该实施例中,单一的USB连接线可以将构成用户界面的个人电脑或平板电脑与液体处理机器人本身相连接。 Tablet personal computers or the liquid handling robot in this embodiment, a single USB cable constituting the user interface may be connected to itself. 在其他实施例中,出于避免必须要物理连接的目的,可以使用W1-Fi连接。 In other embodiments, for the purpose of avoiding the need for a physical connection, W1-Fi connection may be used. 因此,控制软件可以利用USB驱动器和利用出于将开发降到最低目的的设置有单独元件的软件开发工具包,以及利用用于视觉处理和用于逆变换的类似一体化现有软件包,以对于移液管的给定位置(在角度和空间方面)确定一组致动器角度。 Thus, the control software can use the USB drive to develop and use for the purpose of minimizing a separate element provided with a software development kit, and the use for visual processing and the like for the integration of existing packages inverse transformation to for a given shift position of the liquid pipe (angle and space) determining a set of actuator angle.

[0102] 用户界面构成了软件的重要方面。 [0102] The user interface constitutes an important aspect of the software. 摄像机能够捕捉过程的真实图像的实用性提出了使用基于虚拟现实的方法,其中在控制系统的屏幕上给用户提供信息,该信息部分产生于真实图像而部分来自于合成信息。 APPLICABILITY real image of the camera can capture process is proposed based on the use of virtual reality method, wherein providing information to the user on the screen of the control system, the information portion generated in part from a real image synthesis information. 以此方式,可以以用户更易掌握的方式遵守原始方案,从而提高操作者操作的过程并将可能的故障降低到最小。 In this manner, the original program may conform to the user easier to grasp manner, thereby improving the operator's operation procedure and reduce the possibility of failures to a minimum.

[0103] 在液体处理步骤的执行期间,软件界面还可以与用户进行交互。 [0103] during execution of the liquid handling steps, the software interface can interact with the user. 例如,方案可以规定机器人本身不能执行特定液体处理步骤,或类似分光谱测量、相分离、显微镜检查等操作。 For example, the robot program can be provided by itself can not perform a specific liquid handling steps, or the like spectrophotometry, phase separation, microscopic examination and other operations. 因此,软件界面将会触发对用户的干预(或简单地等待用户的干预),例如通过视觉指示器、挥动手部、听觉信号、电子邮件、SMS或给用户打电话。 Therefore, the software interface will trigger the intervention of the user (or simply wait for user intervention), for example, by a visual indicator, waving hands, audible signal, e-mail, SMS or phone call to the user.

[0104] 软件的目的并不限于执行方案,它还能扩展到例如以提高硬件性能为目的的其他操作。 Objective [0104] software is not limited to the implementation of the program, it can be extended to other operations, such as to improve the performance of the hardware for the purpose. 例如,在本领域中公知的是,精确的移液管性能需要相同的频繁的校准,即涉及环境参数以及它们使用的性能。 For example, well known in the art that the precise pipette same performance needs frequent calibration, i.e., environmental parameters relate to the performance and use thereof. 液体处理机器人可以以如下方式由软件控制来执行移液管校准程序:例如重复应用到耗材中的足够数量的分配步骤,以及监控(通过重量、比色法、荧光或类似技术)表示所分配体积的物理参数。 Liquid handling robot can be performed in the following manner pipette calibration software control program: for example, repeated application of a sufficient number assignment step supplies, as well as to monitor the dispensed volume represented (by weight, colorimetry, fluorescence or similar technology) the physical parameters. 应当注意的是,在液体处理机器人中,因为为了实现所需的体积,软件能够自动定义校准表并因此获知将要设置的实际体积,所以对物理调整移液管校准刻度没有严格要求。 It should be noted that, in the liquid handling robot, because in order to achieve the required volume, the software automatically defines the calibration table and thus known the actual volume to be set, so the adjustment of the physical scale of the pipette calibration is not critical.

[0105] 现在已经描述了本发明的几个实施例,本领域技术人员应当明白的是,上述实施例仅仅是说明性的,而不是限制性的,它们仅作为示例的方式提出。 [0105] Having now described a few embodiments of the present invention, those skilled in the art will appreciate that the above-described embodiments are merely illustrative, and not restrictive, they are presented by way of example only. 许多修改和其他实施例都在本领域普通技术范围之内,并落入由所附权利要求及其等同物限定的本发明范围之内。 Many modifications and other embodiments are within the ordinary skill of the art, and fall within the scope of the appended claims and their equivalents of the present invention as defined within. 本申请中所引用的任何参考的内容通过引用的方式并入本文。 Nothing in this application by reference cited herein are incorporated by reference. 对于本发明及其实施例,可以选择使用这些文件的适当组件、程序以及方法。 For the present invention and its embodiments, you can choose the appropriate components of these documents, program, and method.

Claims (18)

1.一种用于处理生物或化学流体的装置,包括: 至少一个移液管,其中,所述装置基于视觉反馈配置所述移液管的体积; 至少一个机械臂,其在水平平面和竖向平面上进行操作以水平地和竖向地操纵至少一个移液管,通过视觉反馈辅助所述操纵,所述视觉反馈安装在所述机械臂上并且接收多个位置的信息以获得三维图像,从而通过所述图像的差异化分析允许所述操纵;以及软件界面,其控制所述移液管的操纵。 A biological or chemical apparatus for processing a fluid, comprising: at least one pipette, wherein said visual feedback device based on the configuration of the shift pipette volume; at least one robot arm, which in the horizontal plane and the vertical to operate on a horizontal plane and at least one vertically actuating the pipette, by actuating the auxiliary visual feedback, visual feedback is mounted on the robot arm of the plurality of positions and receive information to obtain three-dimensional images, so that by difference of the image analysis allows the manipulation; and a software interface that controls the shift actuating fluid tube.
2.根据权利要求1所述的装置,其中, 所述软件界面允许用于液体处理方案的编程。 2. The apparatus according to claim 1, wherein, said software interface allows for programming of the liquid treatment solutions.
3.根据权利要求1所述的装置,其中, 所述机械臂的操纵包括所述至少一个移液管的运动、吸头插入和弹出、所需体积的设置、液体的抽吸和分配。 3. The apparatus according to claim 1, wherein said manipulator comprises the at least one actuating translational movement of the pipette, tip insertion and ejection, the required volume setting, aspirating and dispensing liquids.
4.根据权利要求3所述的装置,其中, 通过一系列的抽吸和分配对所述至少一个移液管进行操纵允许进行液体的混合。 4. The apparatus according to claim 3, wherein the at least one pipette is manipulated to allow the liquid mixture through a series of aspiration and dispense.
5.一种用于处理生物或化学流体的装置,包括: 摄像机,其安装在移动臂上并且能够从多个位置成像以获得三维图像,从而通过所述图像的差异化分析允许识别和定位耗材;以及平台区域,其包括多个耗材, 其中,通过所述图像的标签的识别,所述平台区域的摄像机图像允许识别所述耗材并且相对于所述耗材定位所述移动臂。 An apparatus for processing biological or chemical fluids, comprising: a camera mounted on a mobile arm and three-dimensional image can be obtained from a plurality of imaging positions, so that by difference of the image analysis allows to identify and locate consumables ; and a platform region, which comprises a plurality of consumables, wherein, by identifying tag of the image, the camera image allows identifying the platform region with respect to the consumable supplies and positioning the movable arm.
6.根据权利要求5所述的装置,其中, 所述摄像机是立体摄像机。 6. The apparatus as claimed in claim 5, wherein the camera is a stereo camera.
7.根据权利要求5所述的装置,其中, 使用所述图像的焦距信息来提取所述耗材的高度信息。 7. The apparatus of claim 5, wherein the image using focus information extracting height information of the consumable.
8.根据权利要求5所述的装置,其中, 所述耗材的彩色图用于识别耗材的目的。 8. The device as claimed in claim 5, wherein said color map consumable supplies used for identification purposes.
9.根据权利要求5所述的装置,其中, 耗材通过定位在耗材托架上的标签来识别。 9. The apparatus as claimed in claim 5, wherein the consumable is identified by locating the tag on the consumable carrier.
10.根据权利要求5所述的装置,其中, 通过所述图像内的标签的缺失评估耗材的存在。 10. The apparatus as claimed in claim 5, wherein, by assessing the presence of absence of consumables within the image tag.
11.根据权利要求5所述的装置,其中, 通过所述图像内的标签的重建位置、定向和尺寸中的至少一个属性提取所述移动臂相对于耗材的相对位置。 11. The apparatus as claimed in claim 5, wherein, by reconstructing the position of a tag within the image, the orientation and size of the at least one attribute of the extracted movable arm relative position supplies.
12.根据权利要求11所述的装置,其中, 所述标签从由条形码、图案、RFID、颜色、数量以及几何形状构成的组中选取。 12. The apparatus according to claim 11, wherein said label is selected from the group consisting of a bar code pattern, RFID, color, quantity and geometry.
13.根据权利要求11所述的装置,其中, 从已知真实尺寸的标签的图像中的外观尺寸重建从所述耗材到所述摄像机的距离。 13. The apparatus of claim 11, wherein the size of the reconstructed image from the appearance of the label known real size of consumables from the distance to the camera.
14.根据权利要求11所述的装置,其中, 从具有已知距离的标签的外观相互距离来测量从所述耗材到所述摄像机的距离。 14. The apparatus according to claim 11, wherein said consumable measure the distance from the camera to the appearance of a label from a mutually known distance from the.
15.根据权利要求11所述的装置,其中, 从所述图像内的一个或多个标签的外观位置来测量所述摄像机相对于所述耗材的横向位置。 15. The apparatus according to claim 11, wherein the position of appearance of one or more tags within the image of the camera is measured with respect to the lateral position of said consumable.
16.根据权利要求11所述的装置,其中, 通过所述图像内的单一标签的位置、尺寸和定向重建所述相对位置。 16. The apparatus according to claim 11, wherein a single tag by the position within the image, the size and orientation relative to the reconstruction position.
17.根据权利要求11所述的装置,其中, 从标签的所述相互距离提取关于所述耗材可用性的信息。 17. The apparatus of claim 11, wherein said consumable extract the information about the availability of each of the tag from a distance.
18.一种用于处理生物或化学流体的设备,包括:平台区域,所述平台区域包括根据权利要求5的多个耗材, 其中,所述多个耗材处于给定位置中,并且所述给定位置被组集成灵活有序的构造。 18. An apparatus for processing biological or chemical fluids, comprising: a plateau region, said plateau region comprises a plurality of consumables according to claim 5, wherein the plurality of consumables at a given position, and said to given location is integrated set of flexible and orderly structure.
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EP2643701A1 (en) 2013-10-02
CN105203780B (en) 2018-05-01
HK1219538A1 (en) 2017-04-07
WO2012069925A1 (en) 2012-05-31
US20180056286A1 (en) 2018-03-01
CN108761108A (en) 2018-11-06
KR101944347B1 (en) 2019-04-17
HK1188828A1 (en) 2016-09-09
US20130280143A1 (en) 2013-10-24
CN105203780A (en) 2015-12-30
KR20190014572A (en) 2019-02-12
JP2017161517A (en) 2017-09-14
KR20130119455A (en) 2013-10-31

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